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MEGATORQUE® MOTOR SYSTEM
User’s Manual
(ESA25 Driver Unit System)
M-E099SA0C2-062
Document Number: C20062-06
EC-T
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Limited Warranty
NSK Ltd. warrants its products to be free from defects in material and/or workmanship which NSK Ltd.
is notified of in writing within, which comes first, one (1) year of shipment or 2400 total operation hours.
NSK Ltd., at its option, and with transportation charges prepaid by the claimant, will repair or replace any
product which has been proved to the satisfaction of NSK Ltd. to have a defect in material and/or
workmanship.
This warranty is the sole and exclusive remedy available, and under no circumstances shall NSK Ltd. be
liable for any consequential damages, loss of profits and/or personal injury as a result of claim arising under
this limited warranty. NSK Ltd. makes no other warranty express or implied, and disclaims any warranties
for fitness for a particular purpose or merchantability.
Copyright 1997-2001 by NSK Ltd., Tokyo, Japan
All rights reserved.
No part of this publication may be reproduced in any
form or by any means without permission in writing from
NSK Ltd.
NSK Ltd. reserves the right to make changes to any
products herein to improve reliability, function or design
without prior notice and without any obligation.
NSK Ltd. does not assume any liability arising out of the
application or use of any product described herein;
neither does it convey any licence under its present
patent nor the rights of others.
Patents issued and patents pending.
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In order to use the Megatorque Motor System properly,
observe the following notes.
1. Matters to be attended to use the Driver Unit of the Megatorque Motor System
1 Temperature
l Keep the ambient temperature of the Driver Unit within 0 to 50°C. You cannot put the Driver Unit in an
atmosphere over 50°C. Keep a clearance of 100 mm in upper and lower side of the Driver Unit when it is
installed in the enclosure. If heat is build up on upper side of the Driver Unit, provide the ventilation openings
on the top of it or equip an air cool unit to take the heat out of the Driver Unit.
(Measures against contamination are required for the ventilation openings.)
2 Protection against contamination and water
l Put the Driver Unit in an enclosure of which protection code is IP54 or better. Protect the Driver Unit from
oil-mist, cutting oil, metal chips and paint fume etc. Otherwise it may result in failure of electric circuits of the
Driver Unit.
(IP code is in IEC standard. This is to specify the protection level of enclosures from solid contamination and
water.)
3 Wiring / Ground
l Refer to User's Manual for proper wiring.
l Take appropriate measures not to contaminate the Driver Unit when wiring or installing it.
4 Storing
l Store the Driver Unit in a place at where it is not exposed to rain, water and harmful gas or liquid.
l Store the Driver Unit in a place at where it is not exposed to direct sun light. Keep ambient temperature and
humid as specified.
2. Matters to be attended to use the Motor of the Megatorque Motor System
1 Dustproof and Waterproof of the Motor
l Make sure that how your Motor is graded for dust-proof and/or waterproof. You cannot use the Megatorque
Motor when chemicals or paint fumes exists.
◊ Standard Megatorque Motor (RS, AS, BS, JS, SS and YS Series)
The Motor is not made for dust-proof or waterproof. You cannot use the Motor in humid or oily
atmosphere (IP20, IP30 or IP40 equivalent.)
◊ Simple waterproof Motor (RW series)
The Motor is not treated for complete waterproofing. Confirm what part is not waterproof with the
catalog, then take appropriate measures to these parts against water if necessary. To use the
Motor for a long time, check its failure in insulation through the puncture test which shall be
conducted approximately once in every half of a year. Do not use the Motor without taking
measures against water and oil.
◊ Waterproof Motor (RZ series: IP65 equivalent)
Use this Motor type when splash water or oil on it. When you use the Motor in IP 66 or equivalent
condition, provide air purge. The user shall provide measures against dust. Check the Motor for its
deterioration by the insulation test which shall be conducted approximately once in every half a
year for long term use.
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2 Use condition
l The allowable moment load and axial load differ with Motor size. Reconfirm that the using conditions are in
the specified limits of the Motor.
l An excessive offset load will cause permanent deflection of the rotor and the bearing abnormality. Never
apply shocks to the Motor when installing it. Be sure not to give excessive shocks to the Motor caused by
external interference when operating it.
l Flatness of the Motor mounting surface shall be 0.02 mm or less.
3 Periodical check
l Puncture of the Motor and cable shorting or snapping may occur depending on using condition and
environment. If the Motor is left in such conditions, it cannot exhibit its capability 100 % and will lead to the
trouble of the Driver Unit. We recommend to conduct the periodical check in order to detect the problem.
3. Before concluding that the system is faulty, check the matters again.
1 Alarm arises
l Did you take proper action to the alarm? Check the action described in the manual again.
2 Power does not turn on. Indication lamp does not turn on.
l Check voltage of main and control power by a tester if the voltage is in the range of specification described in
the User’s manual.
3 The Motor does not function.
l Is rotation of the Motor smooth when it is turned manually with power off? Any stickiness in motion? Does
the rotation axis have any axial play?
(Never disassemble the Motor.)
l Is the control Input/Output functioning properly?
→ Monitor status of SVON, RUN and IPOS signals by I/O command through handy terminal.
→ Check if the voltage of input signal and 24 V power source are stable using an oscilloscope
etc.
4 Uncontrollable Driver Unit
l Compare the current setting of parameters with the original setting at the installation. Does the PA data
(unique to individual Motor) change?
5 The Motor vibrates. Positioning is inaccurate. Alarm of software thermal arises frequently.
l Are servo parameters VG, VI, PG, FP and NP adjusted?
l Do you fasten the fixing bolts of load and the Motor mounting securely? Check and fasten them tightly if
necessary.
l Connect FG terminal of the Driver Unit to one point grounding. Ground the Motor and the Driver Unit
respectively. (Refer to User’s Manual for wiring.)
l Is any external interference with rotation in Servo lock state? (It leads to the Motor overheat if external force
is applied to it in servo lock state.)
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6 Breaker trip occurs frequently.
l When the system recovers by replacing fuses or remaking the power, take the following action.
◊ We recommend to install a delay type breaker for a measure against breaker trip.
4. Others
l Combination of the Motor and the Driver Unit shall conform to the specification.
l Be sure to write down the setting of parameters.
l Never modify the cable set.
l Lock the connectors securely and check for lose fixing screw(s).
l Please keep expendable parts and backup parts. (the Motor , the Driver Unit and Cable set for replace)
l Use alcohol for cleaning. Do not apply the thinner.
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MEGATORQUE ®
MOTOR
SYSTEM
User’s
Manual
NSK Ltd.
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About This Manual
l Before operating the Megatorque Motor System, this manual should be read thoroughly. The
Megatorque Motor System is a unique device, so ‘common sense’ based upon experience with
servo motor may not apply here. Careful consideration of the mechanical design as described in
“Chapter 6” is especially important.
l This manual describes the interface, function and operation of the Megatorque Motor System. This
manual provides information on the ESA25 Driver Unit. If your model is not ESA25, contact NSK
for respective information.
Technical Information
l For technical assistance and sales information, please contact your local NSK office. A list of NSK
offices is provided in the back cover.
Megatorque Motor System
Conformity to EC Directives (CE Marking)
NSK Ltd. declares that “Megatorque Motor System” conforms to EC Directive (CE Marking).
However, please note that the following conditions are added for conformity to the EC Directives.
¡ EC Declaration of Incorporation
l Megatorque Motor System is a machine component that is to be incorporated into the machine. (EC
Declaration of Incorporation)
l The Megatorque Motor System must not be operated until it is incorporated into the machine.
l The Megatorque Motor System conforms to the following EC Directives as a machine component.
◊ EC Machinery Directive 89/392 as amended 94/368 and 93/44.
◊ EC Low Voltage Directive 73/23 as amended 93/68.
l The users have to take appropriate measures to their machines to conform to Electoromagnetic
Compatibility Directive. The Megatorque Motor System must not be put into service until the
machinery into which is to be incorporated has been declared in conformity with the provisions of
the EC Directives.
l Our declaration becomes invalid if technical or operational modifications are introduced to the
products without the consent of NSK Ltd.
¡ Remaining Hazards
(Following notes should be observed for your safety.)
l The Driver Unit must be used in the environmental condition of the Installation Category I and
Pollution Degree 2. The Motor and the Driver Unit must be ground respectively.
l An isolation transformer must be used to prevent electrical shock. The isolation transformer shall
have enough capacity for power consumption of the Megatorque Motor System.
l Install a noise filter in the primary AC power line as a measure against external noise.
l A thermal protection circuit for the Motor must be provided by the user to prevent the Motor from
overheating.
l A circuit breaker must be installed into the primary AC power line of the Megatorque Motor
System.
l The cables that connect the Motor and Driver Unit should be used only for internal wiring. Proper
protection of the cables is obligated depending on the usage.
—i—
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Terminology
It will be necessary to be familiar with some terms used in this document.
b.p.s.
bit per second; the unit of communication speed.
CCW
Motor rotating direction, counterclockwise; seen from the outside of rotor.
closed
CW
logic output state; output current will flow.
Motor rotating direction, clockwise; seen from the outside of rotor.
Driver Unit means Megatorque Motor System’s driver unit when capitalized.
Home Return a built-in sequence program for setting the home position.
kpps
kilo pulse per second; the unit of pulse frequency.
Motor means Megatorque Motor System’s motor when capitalized.
OFF (all capital) logic input state; input will see an open circuit.
ON (all capital) logic input state; there will be a current path to the common DC supply.
open logic output state; no output current
P control
proportional-only control; the servo algorithm.
PI control proportional and integral control; the servo algorithm.
position gain shorter name for position loop proportional gain
position integrator frequency shorter name for position loop integrator cutoff frequency
position loop control mode a control mode within the position control loop; P control or PI control available.
Programmable Indexer Driver Unit’s built-in indexing ability.
pulse train a series of pulses used as a position command.
quadrature output
two pulse train outputs with 90û phase difference.
rated stall torque the rated torque available at zero speed.
rated torque the torque not to exceed the maximum Motor winding temperature.
s -1 revolution per second; the unit of velocity.
s -2 s -1 per second; the unit of acceleration.
servo-lock one typical state of servo-on; the Motor provides torque and remains in position.
servo-off the state where the Driver Unit provides no current to the Motor, and the Motor provides
no torque. The Motor rotor can be rotated easily.
servo-on the state that the Driver Unit is ready to control the Motor, or is controlling the Motor.
shipping set
stall torque
System
a parameter setting or a Driver Unit function setting at shipping.
the torque available at zero speed.
means Megatorque Motor System when capitalized.
velocity gain shorter name for velocity loop proportional gain
velocity integrator frequency shorter name for velocity loop integrator cutoff frequency
velocity loop control mode a control mode within the velocity control loop; P control or PI control available.
— ii —
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Contents
1. Introduction---------------------------------------1-1
5. Connector Specifications --------------------5-1
1.1. Overview ----------------------------------------------------1-1
1.2. Functional Principle --------------------------------------1-3
1.2.1. Motor --------------------------------------------------1-3
1.2.2. Driver Unit -------------------------------------------1-3
5.1. CN1 : RS-232C Serial Communication
Connector -------------------------------------------------- 5-1
5.1.1. CN1 Pin-Out---------------------------------------- 5-1
5.1.2. CN1 Signal List------------------------------------ 5-1
5.1.3. Sample Wiring Diagram ------------------------- 5-2
5.2. CN2,CN5 : Control I/O Signal Connectors --------- 5-3
5.2.1. Pin- Out (CN2, CN5) ----------------------------- 5-3
5.2.2. Signal Name and Function (CN2, CN5)----- 5-4
5.2.3. Setting the Polarity (A or B contact) of
the Input Ports ------------------------------------- 5-6
5.2.4. Signal Specifications (CN2, CN5) ------------ 5-8
5.2.4.1. General Input------------------------------- 5-8
5.2.4.2. Pulse Train Input--------------------------- 5-8
5.2.4.3. General Output----------------------------- 5-9
5.2.4.4. Alarm Output-------------------------------- 5-9
5.2.4.5. Position Feedback------------------------5-10
5.2.4.6. Analog Command Input-----------------5-10
5.2.4.7. Analog Monitor Output-------------------5-11
5.2.5. Wiring Example (CN2, CN5) ------------------5-12
5.2.5.1. Position Control Mode Wiring
Example-------------------------------------5-12
5.2.5.2. Wiring Example of Velocity
Control/Torque Control Mode----------5-13
5.2.5.3. Wiring Example for YS Series
Motor Equipped with Brake ------------5-14
5.3. CN3 : Resolver Cable Connector -------------------5-17
5.3.1. CN3 Pin-out ---------------------------------------5-17
5.3.2. CN3 Signal List-----------------------------------5-17
5.4. CN4 : Motor Cable Connector -----------------------5-18
5.4.1. CN4 Pin-out ---------------------------------------5-18
5.4.2. CN4 Signal List-----------------------------------5-18
5.5. TB : Terminal Block for Power Supply-------------5-19
5.5.1. Terminal List --------------------------------------5-19
5.5.2. Wiring Diagram (TB) ----------------------------5-19
2. Notes to Users ----------------------------------2-1
2.1. Operational Remarks ------------------------------------2-1
2.2. Interchangeability of Motor and Driver Unit---------2-3
3. System Outline ----------------------------------3-1
3.1. System Configuration------------------------------------3-1
3.2. Reference Number Configuration --------------------3-2
3.2.1. Motor --------------------------------------------------3-2
3.2.2. Driver Unit -------------------------------------------3-2
3.2.3. Cable Set--------------------------------------------3-2
3.2.4. Handy Terminal ------------------------------------3-2
3.3. Standard Combination-----------------------------------3-3
3.3.1. YS Series Motor------------------------------------3-3
3.3.1.1. Motor and Driver Unit----------------------3-3
3.3.1.2. Cable Set-------------------------------------3-3
3.3.2. JS Series Motor ------------------------------------3-4
3.3.2.1. Motor and Driver Unit----------------------3-4
3.3.2.2. Cable Set-------------------------------------3-4
4. Specifications ------------------------------------4-1
4.1. Motor Specifications --------------------------------------4-1
4.1.1. YS Series Motor------------------------------------4-1
4.1.1.1. Name of Parts -------------------------------4-1
4.1.1.2. Specifications --------------------------------4-2
4.1.1.3. Dimensions ----------------------------------4-6
4.1.2. JS Series Motor ----------------------------------4-17
4.1.2.1. Name of Parts -----------------------------4-17
4.1.2.2. Specifications ------------------------------4-17
4.1.2.3. Dimensions --------------------------------4-19
4.2. Driver Unit-------------------------------------------------4-23
4.2.1. Name of Parts ------------------------------------4-23
4.2.2. General Specifications -------------------------4-24
4.2.3. Functional Specifications ----------------------4-26
4.2.4. Jumper ---------------------------------------------4-28
4.2.5. Dimensions ----------------------------------------4-29
4.3. Cable Set -------------------------------------------------4-30
4.3.1. Cable Set for YS Motor and JS Motor ------4-30
4.3.2. Cable Set for YS Motor with Brake----------4-30
4.4. Handy Terminal -----------------------------------------4-31
4.4.1. Name of Parts and Dimensions --------------4-31
4.4.2. Specification --------------------------------------4-32
6. Installation-----------------------------------------6-1
6.1. Unpacking and Inspection ----------------------------- 6-1
6.2. Combination of Motor and Driver Unit -------------- 6-2
6.3. Motor Mounting ------------------------------------------- 6-3
6.3.1. Bearing Load--------------------------------------- 6-4
6.3.1.1. Attaching the Load ------------------------ 6-4
6.3.1.2. Bearing Load ------------------------------- 6-4
6.3.2. Using a “Dummy” Load-------------------------- 6-5
6.3.3. Load Inertia----------------------------------------- 6-7
6.3.4. Fluctuating Load Inertia ------------------------- 6-7
6.3.5. Motor Operating Condition --------------------- 6-7
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6.4. Driver Unit Mounting -------------------------------------6-8
6.4.1. Connecting Power---------------------------------6-9
6.4.2. Ground Connection and Wiring --------------6-11
6.4.3. Motor Thermal Protection ---------------------6-12
6.5. Connecting Motor and Driver Unit------------------6-13
6.6. Power on and Servo on -------------------------------6-14
6.6.1. Precautions ---------------------------------------6-14
6.6.2. Turning Power on--------------------------------6-14
6.6.3. Turning Servo on --------------------------------6-15
7. Handy Terminal Communication----------7-1
7.1. When Power is Turned on------------------------------7-1
7.2. Command Entry-------------------------------------------7-2
7.2.1. Password --------------------------------------------7-2
7.2.2. Canceling Command -----------------------------7-3
7.2.3. Error---------------------------------------------------7-3
7.2.4. Entering Parameter -------------------------------7-4
7.2.5. Parameter That Requires Entry of
Password--------------------------------------------7-4
7.3. Readout Command---------------------------------------7-5
7.3.1. “TS” Command for Reading Set Value-------7-5
7.3.2. “?” Reading Function Command for
Set Value --------------------------------------------7-6
8. Tuning and Trial Running--------------------8-1
8.1. Tuning Procedure-----------------------------------------8-1
8.2. Automatic Tuning -----------------------------------------8-2
8.2.1. Precautions -----------------------------------------8-2
8.2.2. Initialize Servo Parameters ---------------------8-4
8.2.3. Execution of Automatic Tuning
(Tuning Level 1)------------------------------------8-5
8.2.4. Trial Running (Tuning Level 1) -----------------8-6
8.2.5. Servo Gain Minor Adjustment
(Tuning Level 2)------------------------------------8-8
8.3. Manual Tuning-------------------------------------------8-10
8.3.1. Precautions ---------------------------------------8-10
8.3.2. Adjustment of the Velocity Gain (VG)-------8-10
8.3.3. Adjustment of Velocity Integrator
Frequency (VI)------------------------------------8-12
8.4. Setting Filters (Tuning Level 2)----------------------8-14
9. Operational Function--------------------------9-1
9.1. General Operation and Function----------------------9-1
9.1.1. Servo “ON”-------------------------------------------9-1
9.1.2. Emergency Stop -----------------------------------9-2
9.1.3. Clearing Position Error Counter----------------9-3
9.1.4. Integration off (IOFF)------------------------------9-3
9.1.5. Over-travel Limit Switch--------------------------9-4
9.1.5.1. Hardware Over-travel Limit Switch-----9-4
9.1.5.2. Software Over-travel Limit Switch------9-5
9.1.6. Alarm Output--------------------------------------- 9-6
9.1.7. Brake Signal Output------------------------------ 9-7
9.1.8. In-Position Output--------------------------------- 9-8
9.1.8.1. Output Signal Format--------------------- 9-9
9.1.8.2. Parameter “IN”-----------------------------9-10
9.1.8.3. Parameter “IS”-----------------------------9-10
9.1.8.4. “IPOS” Output in Special
Occasion------------------------------------9-11
9.1.9. Position Feedback Signal----------------------9-12
9.1.10. Monitor Functions ------------------------------9-13
9.1.10.1. Velocity Monitor--------------------------9-14
9.1.10.2. Monitoring I/O State (IO) --------------9-15
9.1.10.3. Reading Current Position -------------9-18
9.1.10.4. Analog Monitor---------------------------9-19
9.2. For More Advanced Operation ----------------------9-21
9.2.1. Position Scale-------------------------------------9-21
9.2.1.1. Resolution ----------------------------------9-21
9.2.1.2. Direction of Position Scale -------------9-21
9.2.1.3. Types of Position Scale-----------------9-22
9.2.1.4. Position Scale Reset---------------------9-25
9.2.1.5. Example of Position Scale Setting ---9-25
9.2.2. Direction of Position Scale---------------------9-27
9.2.3. Digital Filter----------------------------------------9-28
9.2.4. Feed Forward Compensation: FF------------9-29
9.2.5. Integrator Limit : ILV-----------------------------9-30
9.2.6. Dead Band Setting : DBP----------------------9-31
9.3. RS-232C Communication -----------------------------9-32
9.3.1. Specification of Communication -------------9-32
9.3.2. Communication Procedure --------------------9-32
9.3.2.1. When Power is Turned on--------------9-32
9.3.2.2. Command Entry---------------------------9-33
9.3.2.3. Password -----------------------------------9-34
9.3.2.4. Canceling Command --------------------9-35
9.3.2.5. Error------------------------------------------9-36
9.3.2.6. Readout Command ----------------------9-37
9.3.3. Communication with Personal
Computer ------------------------------------------9-39
9.3.3.1. Set-up of HyperTerminal----------------9-39
9.3.3.2. Store Parameters of ESA
Driver Unit ----------------------------------9-40
9.3.3.3. Transmit Stored Parameters to
ESA Driver Unit----------------------------9-40
9.3.4. Daisy Chain Communication------------------9-41
9.3.4.1. Procedure to Set Daisy Chain
Communication----------------------------9-41
9.3.4.2. Initial Setting -------------------------------9-42
9.3.4.3. Interfacing ----------------------------------9-42
9.3.4.4. Power on------------------------------------9-44
9.3.4.5. Operation -----------------------------------9-45
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10. Operation-------------------------------------- 10-1
10.1. Preparation ---------------------------------------------10-1
10.1.1. Wiring Check------------------------------------10-1
10.1.2. Procedure for Positioning Operation------10-1
10.2. Position Control Mode Operation -----------------10-2
10.2.1. Home Return ------------------------------------10-2
10.2.1.1. Home Return Parameter List--------10-5
10.2.1.2. Adjusting Home Position Switch
and Home Offset Value -----------------10-5
10.2.1.3. Programming Home Return
Operation (example)---------------------10-9
10.2.2. Programmable Indexer --------------------- 10-10
10.2.2.1. Programmable Indexer Channel
Switching --------------------------------- 10-11
10.2.3. Pulse Train Command Operation-------- 10-12
10.2.3.1. Pulse Train Signal Format---------- 10-12
10.2.3.2. Pulse Train Resolution -------------- 10-13
10.2.3.3. Input Timing---------------------------- 10-16
10.2.4. RS-232C Position Commands ------------ 10-17
10.2.5. Jog Operation --------------------------------- 10-18
10.3. Velocity Control Mode Operation---------------- 10-19
10.3.1. RS-232C Communication Command--- 10-20
10.3.2. Analog Velocity Command ---------------- 10-21
10.4. Torque Control Mode Operation ---------------- 10-23
10.4.1. RS-232C Communication Command--- 10-23
10.4.2. Analog Torque Command ----------------- 10-24
11. Programming--------------------------------- 11-1
11.1. Commands and Parameters -----------------------11-2
11.2. Program Editing Command-------------------------11-5
11.3. Inputting a Program -----------------------------------11-6
11.4. Sample Program --------------------------------------11-8
12. Command and Parameter --------------- 12-1
12.1. List of Command and Parameter -----------------12-1
12.2. Glossary -------------------------------------------------12-5
AB : I/O polarity------------------------------------12-5
AC : Analog Command Mode -----------------12-6
AD : Absolute Positioning, Degree -----------12-6
AG : Analog Command Gain-------------------12-7
AN : Axis Number---------------------------------12-7
AR : Absolute Positioning, Resolver ---------12-8
AS : Ask Daisy Chain Status ------------------12-8
AT : Automatic Tuning --------------------------12-8
AX : Axis Select-----------------------------------12-9
AZ : Absolute Zero Position Set --------------12-9
BM : Backspace Mode---------------------------12-9
CA : Channel Acceleration ------------------- 12-10
CC : Clear Channel----------------------------- 12-10
CH : Channel Select --------------------------- 12-10
CL
CM
CO
CR
CV
DB
DC
DI
FC
FD
FF
FO
FP
FR
FS
FW
FZ
HA
HD
HO
HS
HV
HZ
ID
ILV
IN
IO
IR
IS
JA
JP
JV
LG
LO
LR
MA
MI
MM
MN
MO
MS
MT
MV
NP
: Clear Alarm --------------------------------12-10
: Communication Mode-------------------12-11
: Position Error Counter Over Limit----12-11
: Circular Resolution-----------------------12-11
: Channel Velocity--------------------------12-12
: Dead Band ---------------------------------12-12
: Digital RS-232C Command ------------12-13
: Direction Inversion -----------------------12-13
: Friction Compensation------------------12-13
: Feed Back Direction Mode-------------12-14
: Feed Forward Gain ----------------------12-14
: Low-pass Filter OFF Velocity----------12-14
: Low-pass Filter, Primary----------------12-15
: Feed back Signal Resolution ----------12-15
: Low-pass Filter, Secondary------------12-15
: FIN Width -----------------------------------12-16
: Feedback Phase Z Configuration ----12-16
: Home Return Acceleration -------------12-16
: Home Return Direction -----------------12-17
: Home Offset -------------------------------12-17
: Home Return Start -----------------------12-17
: Home Return Velocity-------------------12-17
: Home Return Near-Zero Velocity-----12-18
: Incremental Positioning, Degree -----12-18
: Integration Limit---------------------------12-18
: In-position ----------------------------------12-18
: Input /Output Monitor --------------------12-19
: Incremental Positioning, Resolver ---12-19
: In-position Stability Timer --------------12-19
: Jog Acceleration--------------------------12-20
: Jump-----------------------------------------12-20
: Jog Velocity --------------------------------12-20
: Lower Velocity Gain----------------------12-21
: Load Inertia --------------------------------12-21
: Low Torque Ripple -----------------------12-21
: Move Acceleration -----------------------12-22
: Read Motor ID -----------------------------12-22
: Multi-line Mode----------------------------12-22
: Monitor --------------------------------------12-23
: Motor Off------------------------------------12-23
: Motor Stop----------------------------------12-23
: Factory Use Only-------------------------12-24
: Move Velocity------------------------------12-24
: Notch Filter, Primary
(primary notch filter frequency) -------12-24
NS : Notch Filter, Secondary
(secondary notch filter frequency) ---12-25
NW : Neglect Width -----------------------------12-25
OE : Sequence Option Edit-------------------12-25
OG : Origin Set-----------------------------------12-26
OL : Overload Limit-----------------------------12-26
OS : Origin Setting Mode----------------------12-26
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OTP : Overtravel Limit Switch Position------ 12-26
OTM : Overtravel Limit Switch Position ----- 12-26
PA : Phase Adjust------------------------------ 12-27
PC : Pulse Command-------------------------- 12-27
PG : Position Gain------------------------------ 12-27
PH : Programmed Home Return------------ 12-28
PS : Position Scale----------------------------- 12-28
RA : Read Analog Command---------------- 12-28
RC : Rated Current (Software Thermal) -- 12-29
RI : Factory Use Only------------------------- 12-29
RR : Resolver Resolution--------------------- 12-29
SE : Serial Error--------------------------------- 12-29
SG : Servo Gain Adjust, Minor--------------- 12-30
SI
: Set Initial Parameters ------------------- 12-30
SL : Set Servo Loop --------------------------- 12-31
SM : Factory use only-------------------------- 12-31
SP : Start Program ----------------------------- 12-31
SV : Servo-on------------------------------------ 12-31
TA : Tell Alarm Status ------------------------- 12-32
TC : Tell Channel Program ------------------- 12-33
TE : Tell Position Error Counter ------------ 12-33
TL : Torque Limit Rate ------------------------ 12-33
TP : Tell Position ------------------------------- 12-34
TR : Tell RDC Position Data ----------------- 12-34
TS : Tell Settings ------------------------------- 12-35
VG : Velocity Gain ------------------------------ 12-35
VI
: Velocity Integrator Frequency--------- 12-36
VM : Velocity Integrator Mode --------------- 12-36
VO : Velocity Error Over Limit --------------- 12-36
VW : Velocity Error Over Limit Width ------- 12-37
WD : Write Data to EEPROM----------------- 12-37
WM : Write Mode to EEPROM---------------- 12-37
ZP : Factory Use Only------------------------- 12-38
ZV : Factory Use Only------------------------- 12-38
14. Alarm--------------------------------------------14-1
14.1. Identifying Alarm ---------------------------------------14-1
14.1.1. LED Alarm Indicator ---------------------------14-1
14.1.2. Using TA Command---------------------------14-2
14.1.3. Alarm Code List---------------------------------14-3
14.2. Description of Alarm ----------------------------------14-4
14.2.1. Normal State ------------------------------------14-4
14.2.2. Alarms Related to Power Amplifier --------14-4
14.2.2.1. Heat Sink Overheat or
Regeneration Resistor Overheat------14-4
14.2.2.2. Abnormal Main AC Line Voltage ----14-5
14.2.2.3. Over Current------------------------------14-5
14.2.2.4. Control AC Line Under-Voltage -----14-6
14.2.3. Alarms Related to Motor----------------------14-7
14.2.3.1. Resolver Circuit Error ------------------14-7
14.2.3.2. Software Thermal Sensor-------------14-7
14.2.3.3. Velocity Error Over----------------------14-8
14.2.4. Alarms Related to Control--------------------14-9
14.2.4.1. Memory Error-----------------------------14-9
14.2.4.2. EEPROM Error---------------------------14-9
14.2.4.3. System Error -----------------------------14-9
14.2.4.4. CPU Error-------------------------------14-10
14.2.4.5. Interface Error--------------------------14-10
14.2.4.6. Analog Command Error -------------14-10
14.2.4.7. Excess Position Error----------------14-11
14.2.4.8. Software Over Travel Limit---------14-11
14.2.4.9. Hardware Over Travel Limit--------14-12
14.2.4.10. Emergency Stop ---------------------14-12
14.2.4.11. Program Error------------------------14-12
14.2.4.12. Automatic Tuning Error ------------14-13
14.2.4.13. RS-232C Error -----------------------14-13
14.2.4.14. CPU Error -----------------------------14-14
14.2.5. History of Alarm-------------------------------14-15
14.2.5.1. Indication of History of Alarm ------14-15
14.2.5.2. Clear History of Alarm ---------------14-15
13. Maintenance---------------------------------- 13-1
13.1. Precautions ---------------------------------------------13-1
13.2. Maintenance Check ----------------------------------13-2
13.2.1. Motor ----------------------------------------------13-2
13.2.2. Driver Unit and Cable Set--------------------13-2
13.3. Periodical Replacement of Parts ------------------13-3
13.3.1. Motor ----------------------------------------------13-3
13.3.2. Driver Unit----------------------------------------13-3
13.4. Storing ---------------------------------------------------13-3
13.5. Warranty Period and Covering Range -----------13-4
13.5.1. Warranty Period --------------------------------13-4
13.5.2. Range of Warranty-----------------------------13-4
13.5.3. Immunities ---------------------------------------13-4
13.5.4. Service Fee--------------------------------------13-4
15. Troubleshooting -----------------------------15-1
15.1. Identifying Problem -----------------------------------15-1
15.2. Troubleshooting----------------------------------------15-2
15.2.1. Power Trouble ----------------------------------15-3
15.2.2. Motor Trouble -----------------------------------15-4
15.2.3. Command Trouble -----------------------------15-6
15.2.4. Terminal Trouble -----------------------------15-10
Appendix
Appendix 1: Verify Input / Output Signal ----------------- A-1
Appendix 2 : How to Check Motor Condition ----------- A-5
Appendix 3 : Initializing Driver Unit------------------------ A-9
Appendix 4 : How to Replace ESA25 Driver Unit-----A-11
Appendix 5 : Regeneration Dump Resistor ------------A-18
Appendix 6: Brake Built in YS Series Motor------------A-19
Appendix 7: Parameter • Program Setting List--------A-23
— iv —
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1. Introduction
l This section is to introduce the Megatorque Motor System in general. Some parts of explanations
are not applicable to all Driver Units and/or Motors. Refer to respective specifications when
ordering.
1.1. Overview
l The Megatorque Motor System is a unique actuator with special capabilities. The System consists
of almost all elements that are needed for a complete closed loop servo motor system. With
conventional technology these parts must be purchased and installed separately, but the
Megatorque Motor System incorporates them all into two units; the Motor and the Driver Unit.
Motor
l The Motor consists of a high torque brushless actuator, a high resolution brushless resolver, and a
heavy duty precision NSK bearing. The high torque actuator eliminates the need for gear reduction,
while the built-in resolver usually makes feedback components, such as encoders or tachometers
unnecessary. Finally the heavy duty bearing eliminates the need for separate mechanical support
since the Motor case can very often support the load directly in most applications.
Driver Unit
l The Driver Unit consists of a power amplifier, resolver interface, and digital motor control circuits.
The Driver Unit provides everything that is needed to control the Motor’s torque, velocity, or
position; for interface to any standard motor position controller or to act as a stand-alone digital
motion control system with its built-in zero backlash position control capability.
High Speed
l The Driver Unit features higher speeds than ever before... with less torque drop-off at the
intermediate speeds. As a result, smaller Motors may be used for high speed indexing applications
when the torque requirement is primarily for acceleration.
Ease of Use
l The digital control makes the System easy to use, for more than one reason:
◊ The circuit parameters can be changed by an RS-232C command, rather than by
attempting to adjust a multi-turn pot or changing capacitor values. The parameter changes
are not only a breeze to make, but they are measurable and repeatable, so that every
System behaves the same way, every time.
◊ The versatile design means that significant changes in the Driver Unit function can be
made with little or no hardware changes. Numerous options are available at little or no
extra cost.
◊ Stand-alone capability means that the Megatorque Motor System can be operated in
position control mode without the need for a separate CNC or position controller. Built-in
software for flexible motion control means that the complexity of the electronic system
can be cut in half. This reduction of the controls circuitry to one component saves time
and money.
— 1-1 —
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Universal Interface
l Because of the extreme versatility of the Driver Unit design, a wide variety of interface methods
are possible. The Megatorque Motor System can be interfaced to virtually any control system. It is
very easy to control the Megatorque Motor System with a CNC, a servo motor controller, a robot
controller, or an indexing controller. You can operate the Megatorque Motor System with a stepper
motor controller or with a personal computer or dumb terminal. Versatile position control can even
be implemented with a single switch!
High Repeatability
l With zero backlash, direct drive and a 614 400count/rev resolver, the Megatorque Motor System
offers repeatability as high as approximately 2.1”, or approximately 0.00058°. With no mechanical
contact or moving parts other than the bearing, this repeatability will never degrade.
Easy to Maintain
l With all adjustments, indicators, and test points accessible by the front panel, service or
maintenance is easy. LED (light-emitting diode) and logic diagnostic outputs identify the nature of
any error condition quickly and accurately.
l Together, the Motor and the Driver Unit provide the ultimate in simplicity for precise and reliable
motion control.
Single Component Servo System
l A conventional brushless servo system requires at least several separate components which must
be selected and packaged together, often at great expense. Furthermore, many of these
components introduce problems of their own to degrade the entire system’s performance. Gears
and flexible couplings, for example, introduce mechanical irregularities such as windup, backlash,
and mechanical inaccuracy. The same functions can be accomplished with just two components
using the Megatorque Motor System; all of the circuits needed to implement a position or velocity
control servo loop (digital motion controller, servo compensation, brushless commutation logic,
power amplifier) are included in the Driver Unit, and all of the mechanical components that were
required (motor, couplings, gears, bearings, tachometer and encoder) are either replaced or made
unnecessary by the Motor.
Gearless Advantage
l There are many advantages to the gearless servo system. One advantage is to eliminate backlash,
the angular play due to looseness of fit between two mating gears. The direct drive inherently
eliminates backlash, so that repeatability is limited only by the resolution of the position sensor. The
direct drive permits direct coupling of the Motor and the load, so that troublesome flexible couplings
are not required. This permits tighter, more direct control of the load. The Megatorque Motor
System has a very high torque to inertia ratio, so that very high acceleration rates can be achieved.
When the load inertia is low, the Motor can accelerate a load as much as 10 times faster than
comparable high performance servo systems using gears. The performance advantages of the
Megatorque Motor System are demonstrated by many of the new class of the direct drive robots
which have established repeatability and speed records in the robot industry and are the
performance standards against which other robot systems are compared.
— 1-2 —
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1.2. Functional Principle
1.2.1. Motor
l By virtue of its unique design, the Megatorque Motor System is capable of producing extremely
high torque at low speeds suitable for direct drive applications. Furthermore, it can produce these
torque levels without using an undue amount of power, so it can sustain these torque levels
indefinitely under most conditions without overheating.
Motor Construction
l This Motor is of dual stator construction with rotor between them. Each stator is constructed of
laminated iron sheets with eighteen poles stamped into the laminations. Each pole has one set of
copper windings around it which provide the magnetic field. The windings are wired in series so that
there are three sets of windings seen by the power amplifier, each winding consisting of six (four for
0408 type Motor) pole pieces. The face of each pole piece has many teeth, resembling a stepping
motor (in appearance, not in function). The teeth serve to focus the magnetic energy into a series of
discrete points along the pole face. In total there are hundreds of these points around the full turn of
the Motor. (The number depends upon the Motor size.) The rotor is a thin cylindrical ring,
constructed of the same iron laminations and with the same tooth structure, but without windings or
pole pieces. The rotor serves to conduct the magnetic field from the inner stator across the rotor to
the adjacent pole piece on the outer stator, and back again. The rotor teeth also serve to focus the
magnetic field into discrete points around the circumference of the rotor, and the combined effect of
these points of focused magnetic field around both the stators and the rotor act like electronic gear
reduction, multiplying the torque hundreds of times while reducing the speed by the same amount.
Brushless Microprocessor Commutation
l For each full electrical cycle of commutation, the Motor rotates through one magnetic cycle which
is the angular distance between adjacent teeth. In most Motor sizes, there are 150 electrical cycles
per Motor revolution; some smaller sizes such as 0408 type have 100 cycles per revolution. The
commutation of the Motor phases is performed without brushes by direct control of a high speed
microprocessor in the Driver Unit, and it is the phase relationship of the three Motor phases, not
current polarity, that determine the direction of rotation.
Why No Magnets?
l No magnets are used in the Motor, since the Motor uses the teeth to focus the magnetic field. This
contributes to the robustness of the Motor and to the high torque levels which are produced. Since
demagnetization is not a worry, it is possible to develop high magnetic flux densities within the Motor
which would weaken permanent magnets. Unlike motors which use permanent magnets, the
Megatorque Motors do not weaken with age.
1.2.2. Driver Unit
l All of the circuits that are needed to operate the Megatorque Motor System in position, velocity or
torque control modes are contained in the Driver Unit. These circuit functions are:
◊ Digital microprocessor
◊ Power amplifier
◊ Resolver interface
l The resolver interface and the digital microprocessor are on the control board, a single printed
circuit board which is accessible to you on the right side of the Driver Unit.
— 1-3 —
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Digital Microprocessor Subsystem
l The digital microprocessor subsystem is a part of the control board. All analog signals are converted
to digital form, and the 16-bit microprocessor on the control board handles all Motor control
functions in the digital domain. Since analog circuits are eliminated, there are no pots to adjust, no
operational amplifier circuits to tweak, and no soldering or component changes are required. The
digital microprocessor receives commands from the outside world in either analog or digital form,
depending upon the selected interface option. The command parameter can be position, velocity, or
torque. The digital microprocessor compares the commanded variable with the actual measured
value of the controlled variable, and makes small corrections continuously so that the Motor always
obeys the command. The digital microprocessor receives its feedback information from the
Motor’s built-in resolver via the resolver interface circuit subsystem. Digital filters may be applied
which alter Motor behavior to improve the repeatability, or to eliminate mechanical resonances:
◊ A digital integrating function may be selected which improves the repeatability of the
Motor by making it respond to very small command signals. With the integrator, the Motor
can provide zero position error even under full load torque.
◊ A digital notch filter may be employed to cut out certain frequencies from the Motor
response so that mechanical resonances will not cause the Motor to oscillate. If the Motor
is attached to a load which has a strong natural frequency of oscillation, the Motor can be
made insensitive to it merely by setting the notch frequency to the same frequency. A
100Hz resonance can be eliminated, for instance, simply by initializing the Driver Unit
with the RS-232C command “NP100”.
◊ A digital low-pass filter may be employed to modify Motor frequency response and make
the Motor smooth and quiet. Again, the low-pass filter is implemented digitally, and setting
up the filter frequency is as simple as asking for it. There are two independent low-pass
filters available.
Brushless Microprocessor Commutation
l The digital microprocessor uses the digitized position information obtained from the resolver
interface to determine when to apply current to the Motor phases, and how much. The amount of
current applied to each Motor phase is determined by a mathematical function that takes into
account the torque command level, the Motor position, and the Motor velocity. These factors are
taken into account to compensate for the Motor non-linearity and to produce a smooth output
torque.
Power Amplifier Subsystem
l The Motor windings are driven by a current regulated unipolar switching power amplifier that
delivers the current designated by the commutation logic circuits to each of the Motor phases. The
power amplifier monitors its internal voltages to protect itself from damage. If the AC line is too
high or too low, the power amplifier will disable itself and activate alarm indicators. If the amplifier’s
internal DC bus voltage is too high as a result of Motor regeneration, the monitor circuits will switch
on a power resistor to dissipate some of that excess energy. If the power amplifier temperature is
too high, it will activate an alarm signal. For any of the alarm conditions, the type of the alarm is
communicated back to the digital microprocessor, which activates the alarm condition indicators to
identify the specific nature of the alarm condition.
Resolver Interface Subsystem
l Position and velocity feedback signals are provided by the resolver interface circuit. This circuit
provides the excitation signal to the resolver, and receives the three phase resolver analog signals.
These signals are decoded by the resolver-to- digital converter (RDC) to produce digital cyclic
absolute position and velocity feedback signals. The cyclic absolute position data is used by the
commutation circuits and is used internally to maintain absolute position data.
— 1-4 —
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2. Notes to Users
l This manual describes the interface, function, and operation of the Megatorque Motor System with
the ESA25 Driver Unit.
l Before operating the Megatorque Motor System for the first time, this manual should be read
thoroughly.
l Motors, Driver Units and Cable sets described in this manual are interchangeable.
l For motors, this manual describes the standard Motor of YS and JS series only.
If your motor is not one of these, please refer to the respective specification document to which the
priority is given.
l Following notice is added to the clause of safety precautions to get your attention.
Danger
Warning
: Might cause serious injuries
: Might result in injuries
Caution : Might damage the equipment (machine) and/or the load attached to the motor
( work or end effector), or might cause malfunction of the system.
2.1. Operational Remarks
l Pay special attention to the following precautions when installing, adjusting, checking and
troubleshooting Megatorque Motor System.
Caution : Make sure that Motor size, maximum torque number of Motor and Driver Unit
are the same. Refer to “3.3. Standard Combination” for the details.
◊ Parameters of Driver Unit are set to Motor size and maximum torque
before shipped.
◊ If the numbers are different, the system does not operate properly.
Caution : Do not make Cable Set shorter or longer. Changing the length may worsen
Motor and Driver Unit performance.
Caution : Do not disassemble the Motor since it is precisely adjusted and assembled. If
disassembled, it may cause abnormalities such as deterioration in accuracy
and rigidity as well as noise.
Caution : Be sure to connect the Emergency stop signal circuit to the EMST port of the
control I/O connector.
— 2-1 —
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Caution : Do not touch Driver Unit. Touching the Driver Unit just after the power is
turned off may cause electric shock.
◊ Driver Unit has high capacity conductors in its internal circuits and there
is high residual voltage for few minutes after the power is turned off.
◊ Do not detach a cover of Driver Unit unless it is necessary. When a
cover has to be removed, follow procedures described bellow.
1) Turn off the control and main power. If only main power has been turned
on, turn the control power on for more than 5 seconds, then turn off both
powers.
Neglecting this procedure is very dangerous. The procedure is to reduce
residual voltage of capacitors.
2) Wait for 5 minutes or more, then remove the cover.
Figure 2-1
5 seconds
or more
Control power
ON
OFF
Main power
ON
OFF
5 minutes or more
Remove cover
Caution : Use of the optional regenerative dump resistor shall be considered for heavy
duty operation .
◊ When the Motor is decelerating, rotational energy is dissipated by
internal dump resistor. Excessive rotational energy causes very high
regeneration of the Motor, the dump resistor is overheated, then the
alarms goes off and the Motor stops.
◊ Gentler deceleration rate or decreasing duty cycle prevents overheating
of the dump resistor.
◊ If heavy duty operation is still needed, installation of optional
“Regenerative Dump Resistor” is recommended. Refer to “Appendix 6”
for the details.
Danger : Never apply any water or oil to the Driver Unit. Take appropriate measures to
protect the Driver Unit from water, oil, slag, dust and corrosive gas.
Warning
: Do not conduct an “Isolation test” or “Megger test” on the Driver Unit. It may
damage the internal circuit.
Caution : Be sure to adjust the servo parameters according to conditions of actual use.
In most cases, the Direct Drive Motor System cannot exhibit its full
performance unless the shipping set of these parameters are not altered.
Refer to “8. Tuning and Trial Running” for the details of parameter setting.
— 2-2 —
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2.2. Interchangeability of Motor and Driver Unit
Interchangeable combination
l Standard ESA 25 Driver Unit has the interchangeability to the Motor. You may use any Driver Unit
for a Motor regardless of serial number.
l However, refer to “3.3. Standard Combination” for combination of Motor, Driver Unit and Cable
set.
Non-interchangeable combination
l Motor and Driver Unit is not interchangeable for a combination specially arranged. In such a case
refer to the respective specifications sheet.
l Be sure to have the same serial number of the Motor and Driver Unit for a combination. Use a
specially made cable set as well.
l When Motor and Driver Unit do not have the same serial number in a combination or the cable
length is changed by user, be fully aware that the Megatorque Motor system may not conform to
the specifications.
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3. System Outline
3.1. System Configuration
Figure 3-1 : System configuration (without brake)
Handy Terminal FHT11
NSK
1
6
#
&
2
7
24VDC
Power Supply
HANDY TERMINAL
$
‘
<
3
(
8
>
4
)
9
A
B
C
D
G
H
I
J
M
N
O
P
S
T
U
V
5
%
?
0
-
+
.=
E
F
K
L
Q
R
W
X
Y
Z
?
,
/
*
SHIFT
ESC
CTRL
BS
SP
ENT
• Controller (Pulse Output)
• Sequencer
ESA25 Driver Unit
RS-232C
Power
Megatorque Motor
3-phase AC200V
Single phase
AC200V or AC100V
Motor
Cable
Resolver Cable
Cable Set
Figure 3-2 : System configuration with brake
Handy Terminal FHT11
NSK
1
6
#
&
2
7
24VDC
Power Supply
HANDY TERMINAL
$
‘
<
3
(
8
>
4
)
9
?
0
.
=
B
C
D
E
F
G
H
I
J
K
L
O
P
Q
U
V
W
M
S
N
T
ESA25 Driver Unit
5% - +
A
• Controller (Pulse Output)
• Sequencer
R
X
Y
Z
?
,
/
*
SHIFT
ESC
CTRL
BS
SP
ENT
RS-232C
Power
3-phase AC200V
Single phase
AC200V or AC100V
Brake power source (M-FZ063)
Magnetic switch
relay
YS motor with brake
Single phase 200VAC
Cable Set
— 3-1 —
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3.2. Reference Number Configuration
3.2.1. Motor
Figure 3-3
M-YS (1)
2
020
GN
001
(2)
(3)
(4)
(5)
2
006
GN
510
M-JS -
(1) Megatorque Motor series
(2) Motor size
(3) Maximum torque (Unit: N·m)
(4) GN : Standard
*GG : With brake
(5) Design number
* Brake is only available for YS series.
3.2.2. Driver Unit
Figure 3-4
M-ESA (1)
M-ESA -
Y2
020
T
25
(2)
(3)
(4)
(5)
J2
006
T
25
(1) ESA Driver Unit
(2) Motor series and size
(3) Maximum torque (Unit: N·m)
(4) Main power supply
V: AC100V
T: AC200V
(5) Denotes ESA25 standard (25)
3.2.3. Cable Set
Figure 3-5
M-C
-
004
SS
29
(2)
(3)
(4)
004
SS
29
(1)
M-C
-
(1) Megatorque Motor Cable Set
(2) Cable length (Unit: m)
Refer to “3.3. Standard
Combination” for standard length
(3) Cable Set for ESA25 Driver Unit
(4) Cable design number
YS motor : 29 (Standard),
28 (With brake)
JS motor : 29 (Standard)
3.2.4. Handy Terminal
Figure 3-6
M-FHT
11
(1)
(2)
(1) Handy Terminal
(2) Design number
— 3-2 —
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3.3. Standard Combination
l This section describes “Standard Combination” of the Motor, ESA25 Driver Unit and Cable set.
l Make sure to select right combination of each parts when ordering.
3.3.1. YS Series Motor
3.3.1.1. Motor and Driver Unit
Table 3-1
Motor Reference No.
M-YS2005GN001
M-YS2020GG001
M-YS2020GN001
M-YS3008GN001
M-YS3040GG001
M-YS3040GN501
M-YS4080GG001
M-YS4080GN001
M-YS5120GG001
M-YS5120GN001
M-YS5240GN001
ESA25 Driver Unit Reference No.
M-ESA-Y2005V25
M-ESA-Y2005T25
M-ESA-Y2020V25
M-ESA-Y2020T25
M-ESA-Y3008V25
M-ESA-Y3008T25
M-ESA-Y3040V25
M-ESA-Y3040T25
M-ESA-Y4080V25
M-ESA-Y4080T25
M-ESA-Y5120V25
M-ESA-Y5120T25
M-ESA-Y5240T25
Power Supply Voltage
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
AC200V
3.3.1.2. Cable Set
Table 3-2 : Standard
Reference No.
M-C002SS29
M-C004SS29
M-C008SS29
M-C015SS29
M-C030SS29
Length
2m
4m
8m
15m
30m
Table 3-3 : Motor with brake
Reference No.
M-C002SS28
M-C004SS28
M-C008SS28
M-C015SS28
M-C030SS28
Length
2m
4m
8m
15m
30m
— 3-3 —
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3.3.2. JS Series Motor
3.3.2.1. Motor and Driver Unit
Table 3-4
Motor Reference No.
M-JS0002GN510
M-JS1003GN510
M-JS2006GN510
M-JS2014GN510
ESA25 Driver Unit Reference No.
M-ESA-J0002V25
M-ESA-J0002T25
M-ESA-J1003V25
M-ESA-J1003T25
M-ESA-J2006V25
M-ESA-J2006T25
M-ESA-J2014V25
M-ESA-J2014T25
Power Supply Voltage
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
AC100V
AC200V
3.3.2.2. Cable Set
Table 3-5
Reference No.
M-C002SS29
M-C004SS29
M-C008SS29
M-C015SS29
M-C030SS29
Length
2m
4m
8m
15m
30m
— 3-4 —
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4. Specifications
4.1. Motor Specifications
4.1.1. YS Series Motor
4.1.1.1. Name of Parts
Figure 4-1
— 4-1 —
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4.1.1.2. Specifications
l There are three types of Motor in YS series.
1 Standard
2 Motor with brake
3 Low profile type
l YS Series Motor can be run on either 100V/110V or 200V/220V AC.
l The unit used in the specification tables is in SI unit system
1N = 0.102 kgf = 0.225lb
1N·m = 0.102 kgf·m = 0.738 ft·lb
1 Standard
Table 4-1 : Standard
Motor reference No.
Item (Unit)
Maximum torque
(N·m)
Maximum current/phase (A)
Allowable axial load
(N)
Allowable moment load (N·m)
Axial rigidity Note (1)
(mm/N)
Moment rigidity Note (1)
(rad/N·m)
Maximum stall torque
(N·m)
Rotor moment of inertia (kg·m2)
Mass
(kg)
Operating condition
Maximum speed
Resolver resolution
Positioning accuracy
Repeatability
[s -1 (rps)]
(pulse/r)
(sec)
(sec)
AC 200V
Compatible Driver Unit
AC 100V
M-YS2020
GN001
20
M-YS3040
GN501
40
M-YS4080
M-YS5120
M-YS5240
GN001
GN001
GN001
80
120
240
6
3 700
4 500
9 500
19 600
19 600
60
80
160
400
400
4.0 × 10-6
3.0 × 10-6
1.4 × 10-6
1.0 × 10-6
1.0 × 10-6
3.5 × 10-6
2.5 × 10-6
1.5 × 10-6
3.0 × 10-7
3.0 × 10-7
15
35
70
105
198
0.007
0.020
0.065
0.212
0.255
10
16
29
55
95
IP30 Note (3)
IP20
IP30
IP30
IP30
Temperature: 0~40°C, Humidity: 20~80 %,
Use indoors, free from dust, condensation and corrosive gases.
3
614 400
150 Note (2)
±2.1
M-ESAM-ESAM-ESAM-ESAM-ESAY2020T25
Y3040T25
Y4080T25
Y5120T25
Y5240T25
M-ESAM-ESAM-ESAM-ESA–
Y2020V25
Y3040V25
Y4080V25
Y5120V25
Note : (1) These value assume that the Motor is mounted on a rigid base.
(2) When used with an ESA25 Driver Unit (interchangeable).
(3) Internal Protection Level.
— 4-2 —
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2 Motor with brake
Table 4-2 : Motor with brake
Motor reference No.
M-YS2020GG001 M-YS3040GG001 M-YS4080GG001 M-YS5120GG001
Item (Unit)
Maximum torque
(N·m)
20
40
80
120
Maximum current/phase (A)
6
Allowable axial load
(N)
3700
4500
9500
19600
Allowable moment load (N·m)
60
80
160
400
Axial rigidity Note (1)
(mm/N)
4.0 × 10-6
3.0 × 10-6
1.4 × 10-6
1.0 × 10-6
Moment rigidity Note (1)
(rad/N·m)
3.5 × 10-6
2.5 × 10-6
1.5 × 10-6
3.0 × 10-7
Maximum stall torque
(N·m)
15
35
70
105
Rotor moment of inertia (kg·m2)
0.008
0.023
0.072
0.240
Brake torque
(N·m)
20
40
80
120
Mass
(kg)
12
20
36
66
IP30 Note (3)
IP30
IP30
IP30
Operating condition
Temperature: 0~40°C, Humidity: 20~80 % ,
Use indoors, free from dust, condensation and corrosive gases.
Maximum speed
[s -1 (rps)]
3
Resolver resolution
(pulse/r)
614 400
Positioning accuracy
(sec)
150 Note (2)
Repeatability
(sec)
±2.1
AC 200V
M-ESA-Y2020T25
M-ESA-Y3040T25
M-ESA-Y4080T25
M-ESA-Y5120T25
Compatible Driver Unit
AC 100V
M-ESA-Y2020V25
M-ESA-Y3040V25
M-ESA-Y4080V25
M-ESA-Y5120V25
Note : (1) These value assume that the Motor is mounted on a rigid base.
(2) When used with an ESA25 Driver Unit (interchangeable).
(3) Internal Protection Level.
— 4-3 —
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3 Low profile type
Table 4-3 : YS low profile type
Motor reference No.
Item (Unit)
Maximum torque
(N·m)
Maximum current/phase (A)
Allowable axial load
(N)
Allowable moment load (N·m)
Axial rigidity Note (1)
(mm/N)
Moment rigidity Note (1)
(rad/N·m)
Maximum stall torque
(N·m)
Rotor moment of inertia (kg·m2)
Mass
(kg)
Operating condition
Maximum speed
Resolver resolution
Positioning accuracy
Repeatability
Compatible Driver Unit
[S-1 (rps)]
(pulse/r)
(sec)
(sec)
AC 200V
AC 100V
Note : (1)
(2)
(3)
(4)
M-YS2005GN001
M-YS3008GN001
5
8
1.5
3700
4500
60
80
2.8 × 10-5
2.6× 10-5
1.8 × 10-5
1.5 × 10-5
4
5
0.003
0.006
4
6
IP20 Note (3)
IP20
Temperature: 0~40°C, Humidity: 20~80 % ,
Use indoors, free from dust, condensation and corrosive gases.
3
2/3 Note (4)
614 400
150 Note (2)
±2.1
M-ESA-Y2005T25
M-ESA-Y3008T25
M-ESA-Y2005V25
M-ESA-Y3008V25
These value assume that the Motor is mounted on a rigid base.
When used with an ESA25 Driver Unit (interchangeable).
Internal Protection Level.
Differs with main power voltage. 2 : AC100V, 3 : 2AC00V
— 4-4 —
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u How to calculate axial and moment load
Caution : • Do not apply excessive load to the Motor.
An excessive load more than specified in Table 4-2 may result in premature
Motor failure.
• Followings show how to calculate the loads.
Figure 4-2 : How to calculate loads
F
F
L
L
F
A
If F is an external force, then
If F is an external force, then
If F is an external force, then
• Axial load Fa = F + weight of payload • Axial load Fa = F + weight of payload • Axial load Fa = weight of payload
• Moment load M = 0
• Moment load M = F × L
• Moment load M = F × (L+A)
Motor reference number
Dimension A (mm)
M-YS2005 M-YS2020 M-YS3008 M-YS3040 M-YS4080 M-YS5120 M-YS5240
26.0
46.5
25.5
52.5
54.0
58.5
— 4-5 —
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58.5
4.1.1.3. Dimensions
1 Standard
Figure 4-3 : M-YS2020GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-6 —
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Figure 4-4 : M-YS3040GN501
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-7 —
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Figure 4-5 : M-YS4080GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-8 —
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Figure 4-6 : M-YS5120GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-9 —
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Figure 4-7 : M-YS5240GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-10 —
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2 Motor with brake
Figure 4-8 : M-YS2020GG001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-11 —
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Figure 4-9 : M-YS3040GG001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-12 —
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Figure 4-10 : M-YS4080GG001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-13 —
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Figure 4-11 : M-YS5120GG001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-14 —
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3 Low profile type
Figure 4-12 : M-YS2005GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-15 —
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Figure 4-13 : M-YS3008GN001
For the dimensions in parenthesis, an extra 2 to 3 mm allowance
shall be made for their variations due to casting surface.
Unit : mm
— 4-16 —
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4.1.2. JS Series Motor
4.1.2.1. Name of Parts
Figure 4-14
4.1.2.2. Specifications
l JS series Motor can be run on either 100V/110V or 200V/220V AC.
Table 4-4 : Specification
Motor reference No.
M-JS0002GN510 M-JS1003GN510 M-JS2006GN510 M-JS2014GN510
Item (unit)
Motor outside diameter
(mm)
75
100
130
Maximum torque
(N·m)
2
3
6
14
Maximum current/phase (A)
1.5
1.5
3
Allowable axial load
(N)
950
1960
3700
Allowable moment load (N·m)
10
40
60
Axial rigidity Note (1)
(mm/N)
1.6 × 10-5
1.4 × 10-5
7.4 × 10-6
Moment rigidity Note (1)
(rad/N·m)
2.8 × 10-5
1.4 × 10-5
4.8 × 10-6
Maximum stall torque
(N·m)
1.4
2.1
4.2
9.8
Rotor moment of inertia (kg·m2)
0.002
0.004
0.005
0.010
Mass
(kg)
2.4
3.2
4.8
5.5
IP40 Note (3)
IP40
IP40
IP40
Operating conditions
Temperature: 0~40°C, Humidity: 20~80% ,
Use indoors, free from dust, condensation and corrosive gases.
Maximum speed
[s -1(rps)]
4.5
3
Resolution
(pulse/r)
409600
614400
Positioning accuracy Note
(sec)
300
150
(2)
Repeatability
Compatible Driver Unit
(sec)
AC200V
AC100V
±3.2
M-ESAJ0002T25
M-ESAJ0002V25
M-ESA-J1003T25
M-ESA-J1003V25
±2.1
MESA-J2006T25
MESA-J2006V25
M-ESA-J2014T25
M-ESA-J2014V25
Note : (1) These value assume that the Motor is mounted on a rigid base.
(2) When used with an ESA25 Driver Unit (interchangeable).
(3) Internal Protection Level.
SI unit system
1N = 0.102 kgf = 0.225lb
1N·m = 0.102 kgf·m = 0.738 ft·lb
— 4-17 —
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u How to calculate axial and moment load
Caution : • Do not apply excessive load to the Motor.
An excessive load more than specified in Table 4-2 may result in premature
Motor failure.
• Followings show how to calculate the loads.
Figure 4-15
F
F
L
L
F
A
If F is an external force, then
If F is an external force, then
If F is an external force, then
• Axial load Fa = F + weight of payload • Axial load Fa = F + weight of payload • Axial load Fa = weight of payload
• Moment load M = 0
• Moment load M = F × L
• Moment load M = F × (L+A)
Motor reference number
Dimension A (mm)
JS0002FN510
31
JS1003FN510
32
JS2006FN510
30
YS2014FN510
30
— 4-18 —
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4.1.2.3. Dimensions
Figure 4-16 : M-JS0002GN510
130 ±0.4
(
) : Dimensions for M-JS0002GN510
— 4-19 —
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Figure 4-17 : M-JS1003GN510
110 ±0.4
(
) : Dimensions for M-JS1003GN510
— 4-20 —
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Figure 4-18 : M-JS2006GN510
110 ±0.4
(
) : Dimensions for M-JS2006GN510
— 4-21 —
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Figure 4-19 : M-JS2014GN510
135 ±0.4
(
) : Dimensions for M-JS2014GN510
— 4-22 —
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4.2. Driver Unit
4.2.1. Name of Parts
Figure 4-20
Bracket can be attached here.
Bracket
1
Heat sink
ESA
9
NSK
NSK
POWER
13
DISP.
12
CN4
8
MOTOR
CN1
2
RS-232C
FUSE1
250V
T 10A
CN2
FUSE2
250V
T 10A
I/O
11
3
CONT.
AC100-220V
MAIN
AC200-220V
10
R
VEL
GND
VR1
S
CN3
MON
GND
T
SENSOR
FGND
CN5
I/O2
7
Type
No.
4
N
NS
SK
K LLttdd . MADE IN JAPAN
Bracket can be attached here.
6
1 7 segments LED
2 CN1 (9 pins) : RS-232C serial communication
connector
Connector for Handy Terminal
FHT11
3 CN2 (25 pins) : Motor control signal Input / Output
4 CN3 (15 pins) : Resolver cable connector
5 No.
: Serial number plate
6 Type.
: Reference number plate
7 TB
5
: Terminal Block, power supply
8 Fuse 1 and 2 : Fuse holder
9 CN4
: Motor cable connector
10 Monitor pins : Analog velocity monitor pins
11 CN5 (37 pins) : Motor control Input / Output
connector (I/O2)
12 Monitor pins
13 VR1
: Offset adjusting pod of analog input
Caution : Use a time delay type and capacity of 250V T10A fuse for Fuse1 and Fuse2
on the front panel. Be sure to turn off the main power when replacing the fuse.
— 4-23 —
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4.2.2. General Specifications
u Control mode
l Closed loop, P·I position control
u Operation mode
l Pulse train position command
l RS-232C serial communication command
l Programmable control
l Return Home operation
l Jog
u Power supply capacity
1 AC200V/220V ±10%
Table 4-5 : Power supply capacity
Driver Unit Reference No.
M-ESA-Y2005T25
M-ESA-Y2020T25
M-ESA-Y3008T25
M-ESA-Y3040T25
M-ESA-Y4080T25
M-ESA-Y5120T25
M-ESA-Y5240T25
M-ESA-J0002T25
M-ESA-J1003T25
M-ESA-J2006T25
M-ESA-J2014T25
Main power Max.
(exclude surge current)
0.5 kVA
1.0 kVA
0.6 kVA
1.2 kVA
1.4 kVA
1.5 kVA
2 kVA
0.7 kVA
0.7 kVA
0.9 kVA
1.0 kVA
Control power Max.
(exclude surge current)
50 VA
* For the power supply capacity of RS and SS series motors, refer to their specification
document.
Table 4-6 : Surge and leakage current
Surge current
Leakage current
(40Hz ~ 1kHz)
( ~ 1MHz)
Control power
Main power
14A
140A
5 mA rms
35 mA rms
— 4-24 —
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2 AC100V/110V ±10 %
Table 4-7 : Power supply capacity
Main power Max.
(exclude surge current)
0.3 kVA
0.7 kVA
0.3 kVA
0.9 kVA
1.0 kVA
1.0 kVA
0.4 kVA
0.4 kVA
0.7 kVA
0.7 kVA
Driver Unit Reference No.
M-ESA-Y2005V25
M-ESA-Y2020V25
M-ESA-Y3008V25
M-ESA-Y3040V25
M-ESA-Y4080V25
M-ESA-Y5120V25
M-ESA-J0002V25
M-ESA-J1003V25
M-ESA-J2006V25
M-ESA-J2014V25
Control power Max.
(exclude surge current)
50 VA
* For the power supply capacity of RS and SS series motors, refer to their specification
document.
Table 4-8 : Surge and leakage current
Surge current
Leakage current
(40Hz ~ 1kHz)
( ~ 1MHz)
Control power
Main power
7A
80A
3 mA rms
20 mA rms
u Environmental specifications
Table 4-9
Vibration resistance
Line noise resistance
Mass
In operation
Environmental
condition
In storage
0.5G (Conform to JIS-C0911.)
1500V 1µS (by noise simulator)
3kg
Temperature: 0 ~ 50°C
Humidity: 20 ~ 90 % ( no condensation)
Temperature: - 20 ~ 70°C
Use indoors, free from dust, condensation
and corrosive gases.
— 4-25 —
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4.2.3. Functional Specifications
u Control mode can be selected by the parameter SL.
l SL1 : Torque control mode
l SL2 : Velocity control mode
l SL3 : Position control mode
u Position control mode
l RS-232C serial communication command
l Programmable control ( internal programmable indexer)
◊ 64 channels
l Pulse train input operation
◊ CW/CCW or
◊ Pulses/direction or
◊ Phase A • Phase B
l Jog operation
l Home Return operation
u Velocity control mode
l RS-232C serial communication
l Analog ±10V
u Torque control mode
l RS-232C serial communication
l Analog ±10V
u Position detector resolution (Resolver)
Table 4-10
Resolver resolution
Motor type
YS, JS1, JS2, RS
SS
AS, BS, JS0
Automatic resolution switching
or 12-bit setting
614 400 pulse/r
491 520 pulse/r
409 600 pulse/r
10-bit setting
153 600 pulse/r
122 880 pulse/r
102 400 pulse/r
l 12-bit or 10-bit setting can be selected by RR parameter.
— 4-26 —
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u Maximum velocity
Table 4-11
Resolver resolution
Motor type
YS, JS1, JS2, RS
SS
AS, BS, JS0
Automatic resolution switching
or 10-bit setting
3 s -1
3.75 s -1
4.5 s -1
12-bit setting
1 s -1
1.25 s -1
1.5 s -1
u Encoder output signal : øA , øB and øZ (MSB)
l Signal output format:
◊ øA , øB
: Line driver
◊ øZ (MSB) : Line driver/ Open collector selectable (It can be switched by a jumper pin 1.)
Table 4-12 : Resolution
Resolver resolution
Motor type
YS, JS1, JS2, RS
SS
AS, BS, JS0
øA, øB
12-bit setting
153 600 pulse/r
122 880 pulse/r
102 400 pulse/r
10-bit setting
38 400 pulse/r
30 720 pulse/r
25 600 pulse/r
øZ
(MSB)
150 pulse/r
120 pulse/r
100 pulse/r
u Control I/O signal
l Input signals
: Emergency stop, Servo on, Home position limit, Run move, Programmable
indexer channel switching (max. 64 channels) Jog and Overtravel limit
l Output signals : Driver Unit ready, In position and Brake *1
*1 : The brake output signal is for controlling the brake. It cannot be used to supply
power to an electromagnetic brake.
u Alarms
l Excess position error, Software thermal limit, Overtravel limit, Control circuit error, Resolver circuit
error, Over current, Heat sink overheat, Main AC line under or over voltage and Control power
under voltage.
u Monitor output
l Analog monitor, Analog velocity and RS-232C communication monitor
◊ Current position, Alarm state, Servo parameters, etc.
u Communication
l Asynchronous RS-232C communication Baud rate: 9600 b.p.s.
u Data back up
l Backed up by EEPROM
l 500 000 times for resetting/ deleting parameters
— 4-27 —
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4.2.4. Jumper
l Jumper (JP1) is for selecting output format of øZ position feedback signal.
l Jumper is inside of the Driver Unit. When setting Jumper, remove the side cover of the Driver Unit.
Follow the procedure in Appendix 4 : How to Replace ESA25 Driver Unit.
l Figure 4-14 indicates the Jumper location.
Figure 4-21
LED
Driver Unit front panel
CN1
OC
CN2
JP1
LD
CN3
Table 4-13 : Jumper setting.
Setting
LD-Out short
OC-Out short
øZ output format
Line driver (Shipping set)
Open collector
— 4-28 —
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4.2.5. Dimensions
20
21.2
Bracket can be
attached here.
17.5
41
30
Figure 4-22
105
Heat sink
ESA
POWER
NSK
NSK
DISP.
CN4
CN1
MOTOR
CN2
FUSE2
250V
T 10A
I/O
CONT.
AC100-220V
MAIN
AC200-220V
R
VEL
GND
VR1
S
CN3
MON
GND
T
SENSOR
FGND
I/O2
Type
No.
N
NS
SK
K LLttdd .
(46)
6
17.5
50
85
— 4-29 —
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17.5
170
MADE IN JAPAN
9
Bracket can be attached here.
CN5
215
FUSE1
250V
T 10A
180
RS-232C
4.3. Cable Set
l This section shows Cable Set for YS and JS series Motor.
l Refer to respective specification for SS, AS and RS series Motor.
l For reference number and cable length, see “3.3. Standard Combination.”
4.3.1. Cable Set for YS Motor and JS Motor
Figure 4-23
Connector
(JAE, DA-15P-N)
Connector Shell
(JAE, DA-C1-J10)
42
19
ø6
40
Connector
(JST, ELP-15V)
5
4
3
2
1
Resolver Cable
Motor Cable
ø11
10
9
8
7
6
(24)
15
14
13
12
11
4
2
25
3
1
Connector
(AMP, 172495-1)
S1
Sensor
S2
24
L
100
Available cable length (L) are;
2, 4, 8, 15 and 30 m.
4.3.2. Cable Set for YS Motor with Brake
Figure 4-24
Connector
(JAE, DA-15P-N)
Connector Shell
(JAE, DA-C1-J10)
42
19
ø6
40
Connector
(JST, ELP-15V)
5
4
3
2
1
Resolver Cable
Motor Cable
ø11
10
9
8
7
6
(24)
15
14
13
12
11
4
2
25
3
1
Connector
(AMP, 172495-1)
BRK
BRK
S1
S2
24
L
100
Available cable length (L) are;
2, 4, 8, 15 and 30 m.
— 4-30 —
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Brake
Sensor
4.4. Handy Terminal
l FHT11 Handy Terminal is an easy to use hand held terminal with an RS-232C communication
interface for Megatorque Motor System Driver Unit. FHT11 terminal connects directly to the CN1
connector on the ESA25 Driver Unit.
4.4.1. Name of Parts and Dimensions
Figure 4-25
26
98
Main frame
68
Liquid Crystal Display
NSK
NSK
180
1
6
#
&
2
$
7
‘
HANDY TERMINAL
3
8
<
(
4
>
)
9
5
%
0
?
.
+
A
B
C
D
E
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
?
,
/
*
CTRL
BS
SP
ENT
SHIFT ESC
Numeric keys
Code keys (small characters)
=
F
Alphabetic keys
Special code keys
SHIFT
ESC
CTRL
BS
SP
ENT
Note 1)
: Shift key
: Escape key (not used)
: Control key (not used)
Note 2)
: Back space key
Note 3)
: Space key
Note 4)
: Enter key
Connector socket
(JAE, DE-C1-J6)
Connector
(JAE, DE-9P-N)
Cable
JAE
DE-C1-J6
CN1
To ESA25 Driver
Unit Connector
86
38
Unit: mm
19
(Cable length 3000)
Note : 1) SHIFT : Press the code key while holding SHIFT key. (Small characters)
2) BS
: When correcting logged-in mistakes, press BS key.
3) SP
: Press SP key to put a space between characters
4) ENT : Press ENT key at the end of the command or the parameter setting.
— 4-31 —
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4.4.2. Specification
Table 4-14
Item
Power source valtage
Power consumption
Environment
RS-232C Interface
Mass
Specification
DC 5V ±5%
200 mW
• Operating : 0~50°C
Temperature
• Storage
: -10~+65°C
Humidity
35~85% (Non condensing)
Data code
ASCII code
Communication speed
9600 b.p.s
Data bit
8 bit
Stop bit
2 bit
Start bit
1 bit
Parity check
None
250g (exclude cable)
— 4-32 —
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5. Connector Specifications
5.1. CN1 : RS-232C Serial Communication Connector
l NSK’s Handy Terminal FHT11 (sold separately) can be used as an RS-232C terminal.
Table 5-1
Driver Unit connector
Japan Aviation Electronics Industry, Ltd. DELC-J9SAF-13L9
Mating connector type
Japan Aviation Electronics Industry, Ltd.
DE-9PF-N
(user device side)
(to be prepared by the user)*
Mating connector shell type Japan Aviation Electronics Industry, Ltd.
DE-C2-J6
(user device side)
(to be prepared by the user)*
* These connectors are not necessary if NSK Handy Terminal FHT11 is used.
5.1.1. CN1 Pin-Out
Figure 5-1 : CN1 Pin-out
FG
+5V
RTS
SG
9
8
7
6
5
4
3
2
1
DTR
DSR
RXD
CTS
TXD
5.1.2. CN1 Signal List
Table 5-2 : CN1 Signal List
Pin
1
2
3
4
5
6
7
8
9
Signal Name
TXD
CTS
RXD
DSR
DTR
SG
RTS
+5V
FG
I/O
Output
Input
Input
Input
Output
–
Output
Output
–
Function
Transmit data
Clear to send
Receive data
Data set ready
Data terminal ready
Digital signal ground
Ready to send
Never connect
Frame ground (shield)
— 5-1 —
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5.1.3. Sample Wiring Diagram
l Connect the ESA25 Driver Unit with the controller (e.g., personal computer) in accordance with its
RS-232C control signal specification.
u RTS Control / CTS Monitoring Active (standard wiring)
Figure 5-2
ESA Driver Unit
RS-232C Terminal
CN1
TXD
1
TXD
RXD
3
RXD
RTS
7
RTS
CTS
2
CTS
DSR
4
DSR
DTR
5
DTR
SG
6
SG
FG
9
FG
u RTS Control / CTS Monitoring Inactive
Important : When wired as shown below, always confirm the echo-back from the Driver
Unit or send the data slowly. With this wiring, the Driver Unit may not accept
the whole data when they are sent at high speed and in large amount.
Figure 5-3
ESA Driver Unit
RS-232C Terminal
CN1
TXD
1
TXD
RXD
3
RXD
RTS
7
RTS
CTS
2
CTS
DSR
4
DSR
DTR
5
DTR
SG
6
SG
FG
9
FG
— 5-2 —
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5.2. CN2,CN5 : Control I/O Signal Connectors
l Table 5-3 shows connector types of CN2 and CN5.
Table 5-3
Driver Unit side connector
Mating connector
(user device side)
Mating connector shell type
(user device side)
CN2
Japan Aviation Electronics Industry, Ltd.
CN5
CN2
Japan Aviation Electronics Industry, Ltd.
CN5
CN2
Japan Aviation Electronics Industry, Ltd.
CN5
DBLC-J25SAF-13L9
DCLC-J37SAF-13L9
DB-25PF-N *1
DC-37PF-N *1
DB-C2-J9 *1
DC-C8-J13-F4-1 *1
* 1: Provided with Driver Unit
l Wiring precautions for CN2 and CN5 connectors are described below.
1)
Use shielded cable for CN2 and CN5 wiring.
2)
Twisted cables must be used for the pulse train input and position feed back signals.
3)
These cables should be laid sepalately from the power line. Wiring length shall be short as
possible.
4)
Connect one end of shield to the frame ground. Refer to “6.4.2. Ground Connection and
Wiring.”
Caution : Check for wiring mistake of external power supply polarity and shorting
between connector pins.
5.2.1. Pin- Out (CN2, CN5)
Figure 5-4
CN2
SVON
IOFF
HOS
OTM
CWPCCWP-
∗CHA
∗CHB
CHZ
SGND
DRDY+
IPOS
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
CN5
DC24
EMST
HLS
CLR
OTP
CWP+
CCWP+
CHA
CHB
∗CHZ
BRK
DRDYCOM
–
–
–
–
–
–
DIR
JOG
–
–
MON+
MON–
–
–
–
HOME
–
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
DC24
–
RUN
PRG5
PRG4
PRG3
PRG2
PRG1
PRG0
–
–
AIN+
AIN–
–
–
–
–
COM
— 5-3 —
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5.2.2. Signal Name and Function (CN2, CN5)
Table 5-4 : CN2
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Signal Name
COM
DRDYBRK
∗CHZ
CHB
CHA
CCWP+
CWP+
OTP
CLR
HLS
EMST
DC24
IPOS
DRDY+
SGND
CHZ
∗CHB
∗CHA
CCWPCWPOTM
HOS
IOFF
SVON
I/O
Output
Output
Output
Output
Output
Output
Input
Input
Input
Input
Input
Input
Input
Output
Output
–
Output
Output
Output
Input
Input
Input
Input
Input
Input
Function
Output COMMON
Driver Unit ready (-)
Brake control signal (normally close)
Position feedback øZ/digital position data ∗ MSB*
Position feedback øB
Position feedback øA
Counter clockwise pulse (+)
Clockwise pulse (+)
+ direction overtravel limit switch (CW direction)
Clear
Home limit switch
Emergency stop
24 VDC external supply
In position
Driver Unit ready (+)
Signal ground
Position feedback øZ /digital position data MSB*
Position feedback ∗ øB*
Position feedback ∗ øA*
Counter clockwise pulse (-)
Clockwise pulse (-)
- direction overtravel limit switch (CCW direction)
Home return start
Integration off
Servo-on
* The parameter FZ (RS-232C communication interface) is used to select the position
feedback signal øZ or the digital position signal ∗MSB.
— 5-4 —
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Table 5-5 : CN5
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Signal Name
I/O
Function
COM
Output Output COMMON
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
AINInput Analog command (-)
AIN+
Input Analog command (+)
–
–
Do not connect
–
–
Do not connect
PRG0
Input Internal program channel selection bit 0
PRG1
Input Internal program channel selection bit 1
PRG2
Input Internal program channel selection bit 2
PRG3
Input Internal program channel selection bit 3
PRG4
Input Internal program channel selection bit 4
PRG5
Input Internal program channel selection bit 5
RUN
Input Start internally programmed operation
–
–
Do not connect
DC24
Input DC 24V external power supply
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
MONOutput Analog monitor output (-)
MON+
Output Analog monitor output (+)
–
–
Do not connect
–
–
Do not connect
JOG
Input Jogging
DIR
Input Jog direction
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
–
–
Do not connect
Caution : For the Input / Output signals of special-order Driver Unit, refer to its special
document.
— 5-5 —
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5.2.3. Setting the Polarity (A or B contact) of the Input Ports
l The shipping set of polarity for all CN2 input signal ports is A contact.
l The polarity of some input signal ports can be changed to B contact in an ESA25 Driver Unit.
l The ports of which the polarity can be changed are only four signals below. The other ports are
fixed to A contact.
EMST : Emergency stop
HLS : Home limit switch
OTP : + direction overtravel limit switch (CW direction)
OTM : - direction overtravel limit switch (CCW direction)
l The polarity can be changed by the parameter AB.
l The password input is necessary before inputting AB parameter.
l Table 5-6 shows the data and port. Refer to “Setting Example” below and the explanation of AB
parameter.
Table 5-6
Data digit
CN2 Pin No.
Signal name
n1
25
SVON
n2
12
EMST
n3
24
IOFF
n4
11
HLS
n5
23
HOS
n6
10
CLR
n7
22
OTM
n8
9
OTP
l Meaning of data
0 = A contact (normally open)
1 = B contact (normally close)
X = Cannot be changed just after read out the setting of polarity.
When setting polarity, inputting X means no change of polarity of the port.
l See “12. Command and Parameter” for more details.
— 5-6 —
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u Setting Example
1)
Press the code key while holding down the SHIFT key.
SHIFT
2)
4)
:
:?_
Input the command to read the setting of the AB parameter. Check the current polarity
setting (in this example, all the input ports are set to A contact).
A
3)
0?
B
:
:?AB
ABX0X0XX00
:_
ENT
Input the password.
The password acknowledgment message appears on the display.
/
N
S
O
N
ENT
K
ABX0X0XX00
:/NSK ON
NSK ON
:_
SP
The second bit following AB represents EMST. Set this bit to “1”, and the other bits to
“X” (no change).
A
B
X
1#
X
X
X
X
X
ENT
X
:/NSK ON
NSK ON
ABX1XXXXXX
:_
l Thus, the polarity of EMST input signal port has been changed to B contact.
— 5-7 —
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5.2.4. Signal Specifications (CN2, CN5)
5.2.4.1. General Input
Applied Inputs : SVON, EMST, PRG0~5, RUN, HOS, HLS, JOG, DIR, OTP, OTM, CLR,
IOFF
Table 5-7
Item
Input voltage
Input impedance
Maximum current
Specification
24 VDC ±10%
3.3 kΩ
10 mA (per input)
Figure 5-5
*
3.3kΩ
680Ω
DC24
input
Driver Unit side
* The polarity of DC24V external supply may be reversed.
5.2.4.2. Pulse Train Input
Applied Inputs : CWP+, CWP-, CCWP+, CCWPTable 5-8
Item
Input voltage
Input impedance
Maximum current
Specification
5 VDC ±10%
240 Ω
25 mA
Figure 5-6
120Ω
120Ω
390Ω
input+
inputDriver Unit side
— 5-8 —
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5.2.4.3. General Output
Applied Outputs : BRK, IPOS
Table 5-9
Item
Maximum load capacity
Maximum saturated voltage
Specification
24 VDC/100 mA
2 V or less
Figure 5-7
output
COM
Driver Unit side
5.2.4.4. Alarm Output
Applied Outputs : DRDY+, DRDYTable 5-10
Item
Maximum load capacity
Maximum saturated voltage
Specification
24 VDC/100 mA
2 V or less
Figure 5-8
output+
outputDriver Unit side
— 5-9 —
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5.2.4.5. Position Feedback
Applied Outputs : CHA, CHB, CHZ, ∗ CHA, ∗ CHB, ∗ CHZ
Table 5-11
Item
Specification
Line driver (CHA, CHB, ∗ CHA, ∗ CHB)
Line driver or open collector (CHZ, ∗ CHZ)
(Can be selected by Jumper 1. Refer to “4.2.4. Jumper”)
Texas Instruments SN75ALS192
Texas Instruments SN75ALS193 or AM26LS32 equivalent
100mA
24V
For open collector
1V or less
Output format
Line driver
Recommended Line receiver
Maximum collector current
Maximum collector voltage
Saturated voltage
Figure 5-9
CN2-4
∗CHZ
CHA
CHB
∗CHA
∗CHB
CN2-17
CHZ
SGND
SGND
Driver Unit side
JP1
Driver Unit side
5.2.4.6. Analog Command Input
Applied Inputs : AIN+, AINTable 5-12
Item
Max. input voltage
Input impedance
Max. input current
Specification
± 10VDC
20 kΩ
0.5 mA
Figure 5-10
20k Ω
AIN+
AIN-
–
+
Driver Unit side
— 5-10 —
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5.2.4.7. Analog Monitor Output
Applied Outputs : MON+, MONTable 5-13
Item
Output format
Max. input voltage
Saturated voltage
Specification
Ope-amp
±10V ±10%
4mA or less
Figure 5-11
10k Ω
1000PF
–
MON+
+
MON-
10k Ω
— 5-11 —
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5.2.5. Wiring Example (CN2, CN5)
5.2.5.1. Position Control Mode Wiring Example
Figure 5-12
User’s controller
Polarity of DC24V external power may be
reversed and used as “ minus-common”.
DC24V
DC5V
CN2
Servo-on
Emergency stop
Home limit switch
Integration off
+ direction overtravel limit
- direction overtravel limit
Clear
Home Return start
CW pulse train
CCW pulse train
DC24V
Driver Unit ready
In-position
Brake control signal
Position feedback signal øA
Position feedback signal øB
Position feedback signal øZ
Polarity of DC24V external power may be
reversed and used as “minus-common”.
ESA25 Driver Unit
Signal ground
DC24V
Programmed operation start
Internal program selection bit 5
Internal program selection bit 4
Internal program selection bit 3
Internal program selection bit 2
Internal program selection bit 1
Internal program selection bit 0
Jog operation
Jog direction select
13
DC24
25
12
11
24
9
22
10
23
SVON
EMST
HLS
IOFF
OTP
OTM
CLR
HOS
8
21
7
20
CWP+
CWPCCWP+
CCWP-
15
2
14
3
1
DRDY+
DRDYIPOS
BRK
COM
6
19
5
18
17
4
16
CHA
∗CHA
CHB
∗CHB
CHZ
∗CHZ
SGND
CN5
19
DC24
17
16
15
14
13
12
11
30
31
RUN
PRG5
PRG4
PRG3
PRG2
PRG1
PRG0
JOG
DIR
F•G
Caution : • When using an inductive switch (e.g., relay), be sure to insert a serge killer
circuit.
• When the user installs sensors as the Home position limit switch, + direction
overtravel limit and - direction overtravel limit switch, connect sensor output
directly with the input port of the Driver Unit, not via the master controller.
— 5-12 —
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5.2.5.2. Wiring Example of Velocity Control/Torque Control Mode
Figure 5-13
User’s sequencer
ESA25 Driver Unit
Polarity of DC24V external power supply may
be reversed and used as “minus common”.
CN2
13
DC24
Servo-on
Emergency stop
+ direction overtravel limit switch
- direction overtravel limit switch
Clear
Integrator off
(used only in velocity control mode)
25
12
9
22
10
24
SVON
EMST
OTP
OTM
CLR
IOFF
Driver Unit ready
15
2
14
3
1
DRDY+
DRDYIPOS
BRK
COM
6
19
5
18
17
4
16
CHA
∗CHA
CHB
∗CHB
CHZ
∗CHZ
SGND
DC24V
DC24V
In-position
Brake control signal
Position feed back signal øA
Position feed back signal øB
Position feed back signal øZ
/ Digital position signal MSB
Signal ground
(Velocity/Torque control)
Analog command input
DC ±10V
CN5
8
7
AIN+
AIN-
F•G
Caution : • When using an inductive switch (e.g. relay), be sure to install a serge killer
circuit.
• When the user installs sensors for the + direction overtravel limit switch and
- direction overtravel limit switch, connect sensor output directly with the
input port of the Driver Unit, not via the master controller.
— 5-13 —
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5.2.5.3. Wiring Example for YS Series Motor Equipped with Brake
l The brake built-in the YS series Motor is an electromagnetic brake that is released when the coil is
exited (negative action type). The brake is non-backlash type when it engages.
l The brake may be used for safety in case of unexpected power shutdown, or to provide extraholding torque when the Motor is on hold.
l Use an optional brake power supply because the brake is to be operated by the overexertion,
switching full-wave or half-wave rectification. (full-wave rectification for overexertion, while
half-wave rectification for holding).
Reference number of optional power supply: M-FZ063-1
Table 5-14 : Main specification
Power voltage
Output
Overexcitation
voltage/current
Hold
Overexcitation time
Ambient temperature
AC200V ±10%
50 / 60 Hz
DC180V·4A
Full -wave rectification
DC90V·2A
Half-wave rectification
0.35 sec
0 ~ 40°C
Figure 5-14 : Terminal block wiring
1
2
3
AC200V Ground
4
5
Brake
6
7
Brake
open/close contact
Caution : • The brake output of the ESA type Driver Unit cannot be used to switch the
brake directly ON or OFF. For this purpose, be sure to use the brake switch
contacts externally.
• For brake on/off, use contacts with a capacity of more than 10 times of the
inductive load current at 180 VDC
• Do not short-circuit No.4 and No.5 terminals with power on.
• Be sure to use No.6 and No.7 terminals to turn on/off the brake.
• Never open/close No.6 and No.7 terminals in AC power side.
Table 5-15
Motor size
YS2020
YS3040
YS4080
YS5120
Inductive load current (A)
0.36
0.50
0.66
0.72
— 5-14 —
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l The brake signal must be controlled through the user's sequence.
Figure 5-15 : Recommended sequence diagram
A case to increase holding rigidity.
Servo state of
Motor
RUN input
Servo on
Servo off
ON
OFF
Motor rotation
IPOS output
(FW ≠ 0)
Close
Open
IPOS output
(FW=0)
Close
Open
User side
brake signal
ON
OFF
Brake state
IOFF input
Clamp
Release
ON
OFF
Releasing time + α
Clamping time + α
A case for safrty brake.
BRK output
Close
Open
User side
brake signal
ON
OFF
Brake state
IOFF input
Clamp
Release
ON
OFF
Releasing time + α
Releasing time + α
Clamping time + α
Table 5-16
Motor
Brake Static friction torque Torsional rigidity
type
model
(N·m)
(sec./N·m)
YS2020 RNB2K
20
4.5
YS3040 RNB4K
40
4.9
YS4080 RNB8K
80
1.3
YS5120 RNB12K
120
1.9
Brake engaging time Brake releasing time
(msec)
(msec)
26
10
62
3
66
5
78
9
— 5-15 —
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Capacity
(W)
17
23
30
33
Figure 5-16 : Wiring example with brake
3 phase AC200V R
or
Single phase AC200V S
AC100V T
• Isolation transformer
CONT
• Circuit breaker
• Magnetic switch
MAIN
• Noise filter
CN4
MOTOR
TB
FGND
Megatorque Motor
CN3
SENSOR
Master controller
13 DC24
DC24V
Servo-on
4> 5
)
9
D
J
Emergency stop
12 EMST
Home Return start
23 HOS
Home position limit switch
11 HLS
+ direction overtravel limit
9
- direction overtravel limit
22 OTM
Integration off
24 IOFF
Clear
DC5V
P
V
CN1
0
%
-+
?
.
E
K
Q
W
=
F
L
R
X
,
/
*
BS
P
S
ENT
• Connect CN2 and CN5 wiring
as required.
• Do not use the brake output
signal as direct power supply
to the magnetic brake.
RS-232C
OTP
CN2
Signal phase
AC200V
10 CLR
1
8
2 Power supply unit for
3 the magnetic brake.
4 M-FZ063-1
5
6
7
CWP+
21 CWP-
CW pulse train
7
CCW pulse train
Handy Terminal
FHT11
HANDY TERMINAL
25 SVON
CCWP+
20 CCWPRL1
DC24V
Programmed operation start
19 DC24
Internal program selection bit 5
16 PRG5
Internal program selection bit 4
15 PRG4
Internal program selection bit 3
14 PRG3
Internal program selection bit 2
13 PRG2
Internal program selection bit 1
12 PRG1
Internal program selection bit 0
11 PRG0
17 RUN
Jog operation
DC24V
Master controller
RL1
CN5
Driver Unit ready
30 JOG
Jog direction select
31 DIR
Analog command
8
AIN+
7
AIN-
15
DRDY-
2
CN2 BRK
27 MON+
Analog monitor
DRDY+
DC24V
Brake output
in-position
3
IPOS
14
COM
1
26 MONCN5
F•G
HOME
COM
Home return
complete
21
1
F•G
— 5-16 —
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5.3. CN3 : Resolver Cable Connector
l Since the resolver cable supplied with the Megatorque Motor System should always be used, you
need only plug the resolver cable connector into CN3. Knowledge of the pin assignment or signal
names is not necessary. This section is offered for reference.
Caution : • Do not change the length of the cable.
• Do not use other connector between the Resolver cable and CN3.
Danger : • Never connect pins not listed below.
• Insert the connector being careful of its orientation. Tighten the screws for
fastening the connector so that it will not be loosened by shock.
• Never connect/disconnect the CN3 connector when the Driver Unit power is
on.
Table 5-17
Driver Unit connector
Japan Aviation Electronics Industry, Limited
Mating connector type *
Japan Aviation Electronics Industry, Limited
Mating connector shell type * Japan Aviation Electronics Industry, Limited
DALC-J15SAF-13L9
DA-15P-N
DA-C1-J10
* Provided with the cable.
5.3.1. CN3 Pin-out
Figure 5-17 : CN3 Pin-out
ESA standard
REC
FG
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REA
REB
COMMON
5.3.2. CN3 Signal List
Table 5-18 : CN3 Signal List
Pin
8
7
15
4
10
Signal Name
REA
REB
REC
COMMON
FG
Function
Resolver signal phase A
Resolver signal phase B
Resolver signal phase C
Common
Frame ground
— 5-17 —
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5.4. CN4 : Motor Cable Connector
l Since the Motor cable supplied with the Megatorque Motor System should always be used, you
need only plug the Motor cable connector into CN4. Knowledge of the pin assignment or signal
name is not necessary. This section is offered for reference.
Caution : • Do not change the cable length.
• Do not use other connector between the Motor cable and CN4.
Danger : • Be careful for orientation of the connector when inserting it. The connector is
a self-lock type. Insert the connector to its bottom, otherwise it will not lock.
• Never insert/remove the CN4 connector with the Driver Unit power turned
on.
• A high voltage is applied to this connector after the power is turned on. Be
very careful not to cause short-circuit.
Table 5-19
Driver Unit connector
Mating connector type *
(user device side)
Mating connector shell type *
(user device side)
AMP 172039-1
AMP 172495-1
AMP 172774-1
* Provided with the cable.
5.4.1. CN4 Pin-out
Figure 5-18 : CN4 Pin-out
C+
5
1
A+
C-
6
2
A-
3
B+
4
B-
E
7
5.4.2. CN4 Signal List
Table 5-20 : Signal Name and Function
Pin
1
2
3
4
5
6
7
Signal Name
A+
AB+
BC+
CE
Function
Motor winding phase A (+)
Motor winding phase A (-)
Motor winding phase B (+)
Motor winding phase B (-)
Motor winding phase C (+)
Motor winding phase C (-)
Motor grounding wire
— 5-18 —
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5.5. TB : Terminal Block for Power Supply
5.5.1. Terminal List
Table 5-21 : Terminal Labels and Functions
Terminal Label
CONT
MAIN
FGND
Function
Control power input
Main power input
Frame ground
5.5.2. Wiring Diagram (TB)
Figure 5-19 : Wiring diagram (TB)
In the case of AC200V
Control power
Single phase AC100V
Single phase AC200V
Main power
3-phase AC200V
Single-phase AC200V
Noise filter
Noise filter
TB
CONT
AC100 - 220V
R
MAIN
AC200 - 220V
S
T
FGND
Caution : Use the R-S terminals when connecting
single phase 200 VAC. Surge current
becomes larger when the R-T terminals
are in use.
In the case of AC100V
Control power
Single-phase AC100V
Noise filter
Main power
Single-phase AC100V
Noise filter
TB
CONT
AC100 - 110V
MAIN
AC100 - 110V
NC
FGND
Caution : Do not connect this terminal.
— 5-19 —
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— 5-20 —
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6. Installation
6.1. Unpacking and Inspection
l Make sure that you have received the following units.
1)
Megatorque Motor
2)
Driver Unit (CN2 and CN5 mating connectors and 2 fuse holders are included.)
3)
Cable Set (Motor and Resolver cable set)
l Inspect shipping containers for damage as an indication that they might have been mishandled in
transit.
l When unpacking the System, save all packing materials for reuse in the event that the System needs
to be shipped or require service.
Danger : Inspect the Motor and the Driver Unit very closely for damage which might
have occurred in transit. The Driver Unit is particularly fragile and should be
inspected for warped or bent sheet metal, broken standoffs, and loose or
damage electric components.
l Rotate Motor’s rotor by hand, without turning on power. The rotation should be smooth.
l If you suspect damage, do not apply power to the System, since this can cause immediate
catastrophic damage to the Driver Unit. Furthermore, a damaged system could be a potential
electric shock hazard. Notify the carrier immediately, and call your NSK representative.
Caution : Make sure that the combination of Motor and Driver Unit conforms to your
requirement.
— 6-1 —
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6.2. Combination of Motor and Driver Unit
Caution : Make sure that the combination of Motor and Driver Unit conforms to your
requirement.
Check and record the Motor and Driver Unit reference number and serial number.
l Standard Combination
◊ The Motor series, size and maximum torque numbers in both Motor and Driver Unit
reference number must be the same.
l Special-order Combination
◊ Refer to the respective specification document.
l Even when the Motor and Driver Unit are in an interchangeable combination, check reference
number in same manner as Standard combination. If the combination is not interchangeable, serial
numbers of Motor and Driver Unit must be same.
l A nameplate is attached to individual Motor and Driver Unit. Configuration of each plates are
shown in Figure 6-1. Refer to “3.2. Reference Number Configuration” for the more details.
Figure 6-1
Motor
REF.NO.
M-YS 2 020 GN001
SERIAL NO.
2-12010
Max. torque
Motor series No.
Serial No.
Motor size No.
Driver Unit
Type
No.
ESA- Y 2 020 T25-21
2-12001
Motor series No.
Version No.
Motor size No.
Max. torque
Serial No.
— 6-2 —
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6.3. Motor Mounting
l The high acceleration/deceleration characteristic of a direct drive mechanism requires the system
to have high mechanical rigidity. Therefore, it is essential to maximize rigidity of the Motor and the
load system.
l The Motor will work best if all of the elements have a natural frequency between them of at least
100 Hz, and preferably more than 200 Hz.
Warning : • Fully fasten all the mounting holes (mounting tap holes) of the Motor.
• Fasten a work to the attachment using all of the tapped holes of the rotor.
• Eliminate play between the load and the rotor.
• Eliminate play in the mechanism as much as possible.
Warning
: The flatness of the surface where the Motor is mounted affects Motor
operation. Approximately 0.02 mm flatness is needed for smooth operation.
When mounting, minimize the looseness between Motor and the mounting
surface.
Figure 6-2 : Motor Mounting
Load Mounting
Motor Mounting
— 6-3 —
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6.3.1. Bearing Load
6.3.1.1. Attaching the Load
l The load must be attached to the rotor flange using the threaded mounting holes in the rotor. All of
the bolts should be used, and they should be tightened to prevent slippage.
6.3.1.2. Bearing Load
l The Motor uses a heavy duty bearing that can support most loads directly.
Table 6-1 : Maximum Bearing Load (YS Series)
Axial Load Capacity (N)
Moment Load Capacity (N·m)
Distance between Rotor Surface
and Bearing Center* (mm)
YS2005 YS2020 YS3008 YS3040 YS4080 YS5120 YS5240
3 700
4 500
9 500
19 600
60
80
160
400
26.0
46.5
25.5
52.5
54.0
58.5
* Use these values when calculating the moment load.
Refer to “4.1. Motor Specification” for the details.
Caution : When vibratory axial load is applied, the equivalent allowable load of the Motor
shall be less than 2~3 times of the vibratory load.
Table 6-2 : Maximum Bearing Load (JS Series)
Axial Load Capacity (N)
Moment Load Capacity (N·m)
Distance between Rotor Surface
and Bearing Center* (mm)
JS0
950
10
JS1
1 960
40
JS2
3 700
60
31
32
30
* Use these values when calculating the moment load.
Refer to “4.1. Motor Specification” for the details.
— 6-4 —
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6.3.2. Using a “Dummy” Load
l When you have to drive the Motor with a low-stiffness load, you may not be able to avail of the
merits of the Megatorque Motor System. In some cases, a little rearrangement of mechanical
design may help. Try to add some load (“dummy” inertia) to the rotor directly.
u Example 1 : Load is connected using keyway.
Figure 6-3 : Using Keyway
“Dummy”
u Example 2 : Load is directly attached but the shaft diameter is too small.
(Torsional vibration may occur.)
Figure 6-4 : Using Small-Diameter Shaft
“Dummy”
u Example 3 : Driving ball screw. (Inertia of the whole mechanism is very small.)
Figure 6-5 : Driving Ball Screw
“Dummy”
— 6-5 —
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u Example 4 : Load is connected using sprocket chain or gear mechanism.
(There may be backlash.)
Figure 6-6 : Using Sprocket Chain Or Gear Mechanism
“Dummy”
1)
For smooth drive, the inertia of directly attached load should be:
Jd = Ji × 0.2
where
Jd : inertia of directly attached load
Ji : inertia of indirectly attached load
Example:
l When the inertia of indirectly attached load (Ji) is 0.5 kg·m2, the inertia of directry
attached load (Jd) shall be :
Jd = 0.5 × 0.2
= 0.1 kg·m2
2)
When driving a speed reduction;
Ji
r2 × Jd
≤5
where
Jd
Ji
r
: inertia of directly attached load
: inertia of indirectly attached load
: speed reduction ratio
Example:
l When
inertia of indirectly attached load Ji : 20 kg·m 2
speed reduction ration r
:1:3
the inertia of directry attached load (Jd) shall be:
Jd ≥
≥
≥
Ji
r2 × 5
20
32 × 5
0.444 kg·m2
— 6-6 —
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6.3.3. Load Inertia
l Generally, the load inertia is much bigger than the rotor inertia of the Motor. The following table
shows the approximate inertia capacity. (Inertia is shown as J in kg·m2.)
(Unit: kgm 2)
Table 6-3 : Inertia Capacity
High speed positioning
General use
0.006 ~ 0.25
0.025 ~ 1
0.01 ~ 0.4
0.05 ~ 2
0.1 ~ 4
0.15 ~ 6
0.3 ~ 12
0.003 ~ 0.1
0.004 ~ 0.15
0.008 ~ 0.3
0.018 ~ 0.7
0.25 ~ 0.5
1~2
0.4 ~ 0.8
2~4
4~8
6 ~ 12
12 ~ 24
0.1 ~ 0.2
0.15 ~ 0.3
0.3 ~ 0.6
0.7 ~ 1.4
YS2005
YS2020
YS3008
YS3040
YS4080
YS5120
YS5240
JS0002
JS1003
JS2006
JS2014
Large inertia
(Low speed positioning)
–
–
–
–
–
12 ~ 30
24 ~ 125
–
–
–
–
Caution : Refer to “4.1. Motor Specification” for allowable axial load and moment load to
confirm the Motor capacity for actual use conditions.
6.3.4. Fluctuating Load Inertia
l Changes in the inertia load directly influence the performance and stability of direct drive motors. In
the case of large changes in the load inertia it may be necessary to change the servo loop gain. To
minimize the effect of load inertia fluctuations, the ratio of inertia fluctuation should be kept as small
as possible, preferably less than 1:
Ri =
Jmax - Jmin
Jrotor + Jmin
(Where Ri = ratio of inertia fluctuation, Jmax = load inertia at maximum, Jmin = load inertia at
minimum, Jrotor = rotor inertia)
6.3.5. Motor Operating Condition
◊ Ambient Temperature : 0 ~ 40°C.
◊ Relative Humidity
: 20 ~ 80 % (Non-condensing)
◊ Indoor use only
◊ The area where the Motor is mounted must be free of corrosive gas, dirt, dust and any
other contamination.
l YS and JS Motor series are not water-tight. If the Motor is to be used where smaller particles
and/or water may be present, it must be protected by another cover or enclosure.
l Do not apply any machining, such as drilling or cutting.
— 6-7 —
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6.4. Driver Unit Mounting
l The ESA25 Driver Unit may be mounted by the holes in brackets.
Caution : For proper air circulation, clearance is required above and below of the unit.
(see Figure 6-7)
l Be careful not to contaminate the Driver Unit with cutting chips and/or other contamination when
wiring and installing the Driver Unit.
l Use the Driver Unit in the environmental condition of Installation Category I and Pollution Degree
2. The covers of the Driver Unit do not work as an enclosure against flame or electric shock. Install
the Driver Unit into an enclosure and keep the internal temperature of the enclosure within 0 to
50°C. If the heat sink overheat alarm arises frequently, provide an air-cooling measures such as a
fan. (See “14. Alarm.”)
For some environmental condition it might be necessary to prepare the enclosure of which
protection degree is IP 54 or better.
Caution : When installing two or more Driver Units for multi-axis combinations, give a
space of about 100 mm more between adjacent Driver Units.
l ESA25 Driver Unit has brackets for easy fixing to the control box or enclosure.
Figure 6-7
100mm or more
100mm or more
l The area where the Driver Unit is mounted must be free of water, corrosive gas, dirt, dust and any
other contamination.
— 6-8 —
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6.4.1. Connecting Power
l The main power AC line input supplies the power to the high voltage supply for driving the Motor.
l The voltage supplied to the Motor may be three phase or single phase. If the application involves
low speeds less than 0.5 s-1, then single phase power will be adequate. If the application requires
high torque and speeds greater than 0.5 s-1, then the best Motor torque/speed performance is
obtained by supplying three phase power at a higher voltage.
l The control power AC line input supplies power to the internal low voltage switching power supply
for the logic and signal circuits. The internal switching power supply will operate from any single
phase AC voltage from 90 up to 240 volts.
l The AC power for the control power input may be obtained from the same supply that is connected
to the main power AC line input.
l The AC line power consumption varies with the Motor size, the Driver Unit type and the load. The
Megatorque Motor System requires very little power when it is moving at zero or low speed, even
at maximum torque output. The power consumption is highest when the Motor is producing
significant amounts of torque at elevated speed, more than 20% of the maximum rated speed.
l Use 2.0 mm2 (14AWG) or larger wire with heat-proof vinyl for power line.
l The electrical noise from outside sources and the System itself may interfere with proper operation.
The protection from electrical noise must be designed into the installation. Use a line noise filter on
the AC supply. A suitable noise filter may be obtained from NSK. If you supply your own, it should
meet the requirements in Table 6-4.
Table 6-4 : Noise Filter Requirement
Driver Unit AC Line
220VAC, 3ø
220VAC, 1ø
110VAC, 1ø
Control Power
Noise Filter Voltage Rating
Current Rating
250V AC/DC
15A AC/DC
250V AC/DC
5A AC/DC
l Do not tie wrap the input and output sides of the AC line filter together, or place them in close
proximity. Do not tie wrap the ground wires with signal wires.
l The noise filter must be installed on control power AC line, separately from the main power line.
Warning
: An isolation transformer must also be used to prevent electrical shock.
Contact NSK if you need information about isolation transformers. If you
supply your own, the transformer must have enough capacity for the Motor
power consumption. Refer to “4.2.2. General Specification” for the required
power of the Motor.
— 6-9 —
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l Do not place the main power AC line input supplies and signal wires in close proximity. Do not tie
wrap them and not put in the same duct.
l The Driver Unit and the noise filters must be close to each other and wiring must be of minimal
length. Do not insert contacts like a magnetic switch or a relay between them.
l Install a circuit breaker on the main power AC line. When the power is turned “ON”, an inrush
current to the circuit will occur because of the capacitive load connected to the main power supply
circuit.
l When inserting contacts into the power supply circuit, the specification of the contact should be
greater or equal to ones in the following table:
Table 6-5 : Contact Requirements
Contacts
No-Fuse Breaker
For ESA Type
Current Rating 15A
Contact Capacity 15A
Sensitivity 15mA
Contact Capacity 30A
Short-Circuit Breaker
Magnetic Switch
Table 6-6 : Inrush Current
Item
Control Power
Main Power
Inrush Current (TYP)
AC100V
AC200V
7A
14A
80A
140A
l Install a surge killer circuit for magnet switches, relays and solenoids.
l When replacing the fuse F1 or F2 of the Driver Unit, use the fuse provided with the Driver Unit.
Caution : • Use the R-S terminals when connecting single-phase 200 VAC for the main
power supply. Surge current becomes larger when the R-T terminals are in
use.
• During wiring, be careful not to loose terminal block screws, etc.
Danger : Install the plastic protection on TB Terminal Block after wiring. The terminals
on TB will be at high voltage when power is turned on. Removing the protection
and touching terminals may cause extreme electrical shock.
Note : Refer to “5. Connector Specification” for the connector wiring.
— 6-10 —
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6.4.2. Ground Connection and Wiring
l For grounding Driver Unit, use heavy gage cable as possible, such as a flat braided copper cable or
a wire 3.5mm2 (AWG 10) or larger.
Warning
: All the ground lines must be connected at one point and the grounding
resistance must be under or equal to 100Ω.
Caution : Connect the shield of the signal shielded cable (CN2) to the FG terminals (or
SG terminals) of the master controller. If runaways are caused by noise,
connect the shield to the FG terminal of the Driver Unit.
Caution : Make sure to earth the Motor base when it is isolated from the machine base.
l Figure 6-8 shows the wiring example. (This is provided as an example, not the instruction.)
Figure 6-8 : Wiring Example
S1
∗
Circuit breaker
AC power
Isolation transformer
S2
∗
Driver Unit
Thermal sensor
(Normally closed)
Noise
filter
Magnet
switch
Main power
Magnet
switch
Noise
filter
∗
∗
CN3
Resolver
CN4
Motor
Control power
∗
Motor
FG
CN2
∗
CN5
DRDY+
DC24V
Noise
filter
200V : 100V
∗
∗
∗
Ground earth
(Class 3 or better)
∗
DRDY-
Ground the Motor
base using bolts.
User controller
• Position controller (Pulse train output)
• Sequencer
• DC24V power source
∗
∗ Connect at one point.
Caution : • We recommend to use the noise filter listed below as the measures for EMC
Directive.
Single phase 200V : Equivalent to FN2070-10
(Shaffner EMC Ltd.)
Single phase 100V : Equivalent to FN2070-16
(Shaffner EMC Ltd.)
3 phase 200V
: Equivalent to FN358-16
(Shaffner EMC Ltd.)
• The isolation transformer and the circuit breaker shall conform to the
relevant European safety regulations.
— 6-11 —
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6.4.3. Motor Thermal Protection
l The thermal protection circuit must be installed to prevent the Motor from overheating.
l YS and JS Motors have a built-in thermal sensor. The lead wires of the sensor are connected to the
Motor connector.
l A Cable Set has the outlet lead wires for the protection circuit. Refer to “3.2.3. Cable Set” for
sensor lead wires.
l The protection circuit must be set to turn off the main AC power supply when the sensor is
activated. Refer to Figure 6-8 “Wiring Example” to install the protection circuit that uses 2 lead
wires S1 and S2.
l Thermal sensor specifications
◊ Contact
: Normally close
◊ Rating Maximum : 250VAC 3.5A
◊ Rating Minimum : 6V 0.15A
◊ Type
: T100R1U1N ( Matsushita Electric )
(Temperature set : 100°C)
◊ Conforms to VDE.
◊ The sensor is “self resetting” type. When temperature drops 15°C from the set value, it
returns to normal state. Wait for 30 minutes or more after the protection circuit is
activated and then turn on the power again.
— 6-12 —
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6.5. Connecting Motor and Driver Unit
l User must specify the Cable Set length when ordering. Select from 2, 4, 8, 15 and 30m.
Caution : • Do not make the Cable set length longer or shorter. Changing cable length
may worsen the performance of the Motor and the Driver Unit. Optional
Cable set is available in length of 2, 4, 8 ,15 and 30 meters.
• Do not place the power lines (AC power supply and Motor cable) and the
signal lines (CN2 and Resolver cable) in close proximity. Do not tie wrap
them and not put in the same duct.
• Connect the Cable Set to Motor connector and Driver Unit connectors CN3
and CN4 as shown in Figure 6-9 and 6-10.
Figure 6-9 : YS Motor
Figure 6-10 : JS Motor
— 6-13 —
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6.6. Power on and Servo on
6.6.1. Precautions
Caution : Before turning on the main power, check the following.
(1) Wiring of connectors
(2) Connecting Cable of Motor and Driver unit.
(3) Safety
Danger : Always stay in a safe place.
Warning
: Confirm that the Motor is securely fixed to the mounting base and the load is
fixed to the Motor. Fully fasten all the mounting bolts.
Danger : The working area of the Motor must be protected from the operator.
6.6.2. Turning Power on
1 Turn on the power
2 Make sure that the LED of the Driver Unit and the Handy Terminal display are
indicating that the system is ready for operation.
1)
Normal state
l Figure 6-11 shows the LED indicator in normal condition.
Figure 6-11
2)
Abnormal
Figure 6-12
Green LED: Turns on when the power is turned on.
Normal : Green
Abnormal :Orange
7-segment LED display: Indicate the type of alarm.
• The alarm is normally indicated by a 2-digit code. Two
characters are displayed alternately at certain intervals.
• When two or more alarms are detected, their codes are
also indicated alternately at certain intervals.
l Refer to “14. Alarms” for more details.
3)
Handy Terminal display
l If a message “NSK MEGA...” is displayed on the Handy Terminal, the system is ready for
operation. A colon ( : ) indicates that a command can be entered.
— 6-14 —
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Figure 6-13 : Handy Terminal display (In normal state)
NSK MEGATORQUE
MS1A50-*****
E*****
:_
Differs with the system configuration.
6.6.3. Turning Servo on
Figure 6-14 : Power “ON” sequence
Driver Unit side
Turn on power
Master controller
(User devise)
Initialization
NG
Check for
condition
Timer
OK
DRDY open
Check for
DRDY
DRDY close
NG
OK
Action for alarm
Action for alarm
Servo lock
SVON
Operating
Motor
Input
operation
command
Figure 6-15 : Power ON / SVON timing
Control power
Main power
supply
ON
OFF
ON
OFF
2 sec. Approx.
DRDY output
CPU initialized
(See note)
SVON input
ON
OFF
(See note)
30ms min. *
Operation
command
Home Return, etc.
* : It will take 30 milliseconds for the Driver Unit to receive the
operation command after SVON is inputted.
Caution : Turn on the main power supply first, then the SVON input. When turn off the
main power supply, turn off SVON first. If the main power supply is turned off
in the servo-on state, the Driver Unit outputs the AC Line under-voltage alarm.
Once this alarm occurs it will not recover unless the power is turned on again.
◊ Figure 6-14 and 15 show timing of power “ON” and SVON.
— 6-15 —
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— 6-16 —
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7. Handy Terminal Communication
l Setting of various parameters, trial running, and adjustment are possible by inputting commands to
the Driver Units through NSK Handy Terminal FHT11. (i.e., communication through the RS-232C
interface).
l The Driver Unit has CN1 as the Input/Output ports for RS-232C communication.
l FHT11 Terminal can be a daisy chain communication terminal. Refer to “9.3.4. Daisy Chain
Communication” for details.
Caution : Always turn off the Driver Unit when plugging on/off the CN1 connector.
◊ Turn off the Driver Unit, if it has been turned on.
◊ Connect FHT11 and the Driver Unit at connector CN1.
◊ The communication will automatically begin when you turn on the control power of the
Driver Unit.
7.1. When Power is Turned on
l If the terminal (NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit power is
turned on, the message shown below is displayed.
l The contents (and the number of characters) of this message may differ with Driver Unit setting
and system versions.
l When the Driver Units are initialized, a colon ( : ) is displayed and the system waits for a command
to be entered. The colon ( : ) is called a prompt. If the colon ( : ) is not displayed, press ENT key.
Figure 7-1 : Power-On Message
NSK MEGATORQUE
MS1A50_xxxx
Exxxxxxxxxx
:_
Slightly differs with system configurations.
Indicates that internal initialization is completed
and a command may be accepted.
— 7-1 —
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7.2. Command Entry
l Refer to “4.4. Handy Terminal” for the function of the keys.
l Communication command shall consist of “a command (character string) + data (if necessary) +
ENT ”
l If the velocity gain is to be set to 0.5, for example”VG0.5” should be entered by adding data of 0.5
to a VG command.
l Every time a character is input, the Driver Unit echoes the character back to the terminal. (The
Driver Unit returns the same character it receives.)
l When ENT code is input, the Driver Unit decodes a character string which it has received
(VG0.5 in the example above) and executes it. Therefore, a command is not executed unless it ends
with ENT .
Caution : When turn off power of the Driver Unit, make sure that a colon ( : ) is displayed.
If not, an alarm “Memory error” might be detected when you turn on the power
next time.
7.2.1. Password
l Among the communication commands used for this System, some special commands (such as AB,
PA, SI, etc.) require password entry for preventing erroneous entries. These commands cannot be
entered in the same manner as other commands.
l The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts
it, it returns an “NSK ON” message. Refer to “12. Command and Parameter” for details.
l A command that requires the password may only be executed immediately after it is entered.
Figure 7-2 : Password Input
:/NSK ON
NSK ON
:_
Entered passward
Returned message
Waiting for a command to be entered
Input (To Driver Unit)
/
N
S
K
SP
O
N
ENT
— 7-2 —
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7.2.2. Canceling Command
l To cancel a command which has been entered halfway, enter a backspace code.
l For example, when the backspace code is input following VG0.5, the cursor moves one space back
to the position where 5 was input and thereby deletes 5.
Figure 7-3 : Canceling Example
:VG0.5_
:VG0._
Input BS Key
Input (To Driver Unit)
V
G
0?
.
=
5%
BS
7.2.3. Error
l Note that an error occurs in any of the following cases:
1)
If a nonexistent command (i.e., character string) is entered.
(If an entered character string cannot be decoded.)
2)
If data or subscript out of the allowable range is entered.
3)
If a command requiring the password is entered without the password.
l In any of these cases, the entered character string with a “?” mark is returned as an error message.
For example,
Figure 7-4 : Input Error Example 1
:ABCDE
ABCDE?
:_
If ABCDE is entered, an error message is returned
since this character string is not a command.
Input (To Driver Unit)
A
B
C
D
E
ENT
— 7-3 —
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7.2.4. Entering Parameter
1)
When entering parameter, make sure that a colon ( : ) is displayed on the screen.
( If the colon is not displayed, press the enter key once.)
:_
ENT
2)
As an example, set the parameter “Move Velocity MV” (revolution speed) to 0.5 r.p.s.
Enter the parameter as shown below.
M
V
0?
.=
5%
ENT
:MV0.5
:_
The colon ( : ) appears to confirm the entry.
l As shown above, inputting “the parameter command + numeric value + ENT key” completes the
parameter entry. (Entering the space key between the parameter and numeric values is not
necessary.)
7.2.5. Parameter That Requires Entry of Password
1)
When entering the command, make sure that a colon ( : ) is displayed on the screen.
(If the colon is not displayed, press the enter key once.)
:_
ENT
2)
Enter the password referring to “7.2.1. Password.”
/
N
S
O
N
ENT
K
SP
:/NSK ON
NSK ON
:_
The message confirming the entry of password is displayed and the colon ( : ) appears on the
screen.
3)
Enter the parameter as described in “7.2.4. Entering Parameter” above.
The parameters which requires entry of the password may only be executed immediately after the
password is inputted.
— 7-4 —
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7.3. Readout Command
l If a command for reading out initial setting or current state is entered, the Driver Unit returns data.
l The following is an example for checking “Jog Velocity JV” set value.
7.3.1. “TS” Command for Reading Set Value
1)
When entering the command, make sure that a colon ( : ) is displayed on the screen.
(If the colon is not displayed, press the enter key once.)
:_
ENT
2)
Refer to “12. Command and Parameter.”
“JV” command is in the group of TS7, input
T
S
7‘
ENT
:TS7
MV1.00;
The setting value of MV (Move Velocity) is displayed first.
3)
Press the space key to scroll display to find out JV value.
SP
4)
SP
:TS7
MV1.00;
MA1.00;
JV0.10;
···
To finish the readout, keep pressing the space key until display stops scrolling or press the back
space key.
MV1.00;
MA1.00;
JV0.10;
:_
BS
5)
The colon ( : ) is displayed to indicate the system is waiting for next command.
— 7-5 —
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7.3.2. “?” Reading Function Command for Set Value
1)
When entering the command, make sure that a colon ( : ) is displayed on the screen.
(If the colon is not displayed, press the enter key once.)
:_
ENT
2)
Enter “?” before inputting the command.
In case of this example, input “JV” after “?”.
?
3)
J
V
ENT
:?JV
JV0.10
:_
The colon ( : ) is displayed to indicate the system is waiting for next command.
Caution : When reading out set value, using TS command is recommended.
When using “?” command, make sure to input “?” command before
parameter characters. If not, and pressing ENT key after the characters
may change the set value.
— 7-6 —
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8. Tuning and Trial Running
l Gain adjustment is necessary for the position control mode and the velocity control mode.
l In the torque control mode, the noise filter adjustment may be required.
8.1. Tuning Procedure
Figure 8-1 : Tuning Procedure
l Install the Motor and wire the Driver Unit.
Preparation
Caution : • Make sure that the LED of the Driver
Power “ON”
Unit is indicating
(normal).
• Turn control power “ON” and confirm
that the Handy Terminal display shows
the message as shown below.
NSK MEGATORQUE
MS1A50_***
E*********
:_
Tuning
Level 1
8.2.2. Initialize Servo Parameters
l Initialize servo parameters.
8.2.3. Execution of Automatic Tuning
l Execution of automatic tuning. (PG, VG, VI and MA)
◊ Automatic estimation of load inertia and automatic
servo-parameters setting will be executed in this stage.
8.2.4. Trial Running
YES
Operating
OK
l Trial running
◊ Confirm the parameter set values obtained from
automatic tuning. You may refer to the setting for
Level 2 and Level 3 adjustment.
NO
8.2.5. Servo Gain Minor Adjustment
Operating
OK
Tuning
Level 2
YES
Tuning
Level 1
NO
Tuning
Level 2
8.4. Setting Filters
Operating
OK
YES
Tuning
Level 3
• Basic function of Automatic tuning.
• The adjustment is completed if trial
running is satisfactory.
• Execute additional adjustment to the
Level 1 when trial running is not
satisfactory.
• Execute final adjustment manually
when Level 1 and 2 are not successful.
NO
8.3. Manual Tuning
Tuning
Level 3
NO
Operating
OK
YES
End (Trial Running)
— 8-1 —
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8.2. Automatic Tuning
Caution : Automatic tuning cannot be performed if the following conditions are not met.
◊ The load inertia must be under the limit of the Motor. (Refer to “4.1. Motor
Specification”)
◊ The Motor axis must be vertical. (The load conditions to the Motor must
not be affected by the gravity.)
◊ Mechanical rigidity of the Motor mounting base and attached load is
sufficient enough.
◊ There must be no backlash or play caused by gears and couplings.
◊ Frictional load to the Motor shall be minimal.
u Preparation
l Following preparation is required to execute the automatic tuning.
◊ Installation of the Motor.
◊ Attachment the load to the rotor of Motor.
◊ Installation of the Driver Unit.
◊ Wiring AC power line.
◊ Wiring the SVON (Servo on) and the EMST (Emergency stop). (CN2 connector)
◊ Connection of the Driver Unit and the Motor. (Use the optional cable set from NSK.)
◊ Connection of the Handy Terminal to the Driver Unit.
8.2.1. Precautions
Danger : • Wire “EMST” (Emergency Stop, CN2) signal to stop the Motor immediately
when an accident is foreseen.
• If the Motor rotation range is restricted, set overtravel limits (OTP, OTM).
Danger : The Motor rotates ±20° (degree) when executing automatic tuning. Always
stay in safe position.
Caution : If mechanical rigidity of the load (work) is not sufficient enough, the Motor may
vibrate. Turn “SVON” signal off or turn off the power when the Motor starts to
vibrate. Execute manual tuning in chapter 8.3 or increase the rigidity of the
load.
Caution : The automatic tuning is valid in the position control mode and the velocity
control mode. It is not necessary for the torque control mode.
— 8-2 —
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Figure 8-2 : Example: Wiring Diagram for Preparation of Automatic Tuning
Handy terminal (FHT11)
HANDY TERMINAL
NSK
1
Driver Unit
CN1
Work (Load inertia)
#
2
$
‘
<
3
8(
>
4
%
+
B
C
D
E
F
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
Y
Z
?
,
/
*
SHIFT
ESC
BS
SP
ENT
9
?
-
7
A
CTRL
)
5
6&
0
.
=
X
TB
CN4
Control
power
CN3
Main
power
Motor
Mounting base
CONT.
Noise
Filter
AC power
MAIN
Noise
Filter
AC power
FGND
Cable Set
DC24V
(External power supply)
DC24
SVON
13
25
CN2 EMST
OTP
OTM
12
9
22
: Over Travel Limit Sensor
— 8-3 —
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8.2.2. Initialize Servo Parameters
1)
Turn off the servo-on (SVON, CN2) signal.
2)
Enter
T
S
1#
and
ENT
T
S
2$
ENT
to check the parameter settings. Note down all data.
3)
Log in the password.
/
N
S
O
N
ENT
K
:/NSK ON
NSK ON
:_
SP
Display indicates the confirmation.
4)
Log in SI (Set Initial Parameters) command.
S
I
:SI
INITIALIZE
:_
ENT
“INITIALIZE” is displayed as the confirmation and the initializing parameter begins. It takes few
seconds and a colon “:” is displayed for next command.
Caution : When “SVON” signal (CN2) is “ON” and “SI” command is input, Driver Unit
rejects to execute the command. “SI INHIBITED” message will appear on the
display.
Table 8-1 : Servo Parameter List
Parameter
PG
VG
VI
VM
LG*
TL*
TS1 Reading
Initial Setting
0.100
1.0
1.00
1
0
100
Set Value
Parameter
FO*
FP
FS
NP
DBP*
ILV*
FF*
FC*
TS2 Reading
Initial Setting
0.000
0
0
0
0
100
0.000
0
Set Value
* These parameters are not necessary to adjust in Level 1 and 2 tuning.
— 8-4 —
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8.2.3. Execution of Automatic Tuning (Tuning Level 1)
Caution : Make sure the work (or Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
◊ The Motor needs to rotate at least ±20° when executing the automatic
tuning. If the application restricts the Motor rotation, keep room for ±20°
Motor rotation. The overtravel limits (OTP, OTM) must be used to
restrict the Motor rotation range.
1)
Turn SVON (CN2) signal “ON” and inputting “SV” command makes the Motor in servo-on state.
S
V
:SV
:_
ENT
2)
Confirm that Driver Unit’s “LED” is indicating “
3)
Input “Automatic Tuning” command.
A
T
” for normal condition.
:AT
AT ready OK
?_
ENT
If a message is different from the display shown right, confirm procedures 1) and 2) again.
4)
Confirm the message “AT ready OK” then input “OK.”
O
K
:AT
AT ready OK
?OK
•••
ENT
The Motor rotates 10~20° back and forth to estimate the load inertia. When executing estimation, a
dot ( . ) keeps appearing in the display till the Motor stops.
5)
After the estimation of load inertia, the display indicates the inertia value “LO.”
(Way of displaying “.” and the value of LO differ with the condition of load inertia.)
?OK
•••••••
LO****
:_
Load inertia
estimation.
Caution : When executing the automatic tuning, if an error message is “ON,” refer to
“14. Alarm” and take a proper remedy. Driver Unit’s LED indicates “F8” for
“AT” error in an example display shown right.
?OK
Error number
•••••••
AT Error1
:_
— 8-5 —
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8.2.4. Trial Running (Tuning Level 1)
Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
l For this adjustment, the demonstration program of ESA25 Driver Unit is used as an example. The
program is originally set before it is shipped.
1)
Turn SVON (CN2) signal “ON” and inputting “SV” command makes the Motor in servo-on states.
S
V
:SV
:_
ENT
2)
Confirm that Driver Unit’s “LED” is indicating “
3)
Confirm an emergency stop (EMST) and over travel limits (OTP, OTM) are “OFF”.
4)
After the automatic tuning the rotational speed “MV” has been initialized to 1 [s-1].
Change “MV” to 0.1 s-1 for trial running.
M
V
0?
.=
1#
” for normal condition.
ENT
:MV0.1
:_
Note : After the adjustment, change “MV” to the actual use.
5)
Display the demonstration program.
S
P
/
A
J
ENT
:SP/AJ
IN100,IS0.0,FW1.0
ID9000/OK
?_
The message indicates the conditions of positioning and rotation angle.
IN: In-position, IS: In-position stability timer.
FW: FIN Width.
ID: Incremental Positioning, Degree.
(Refer to “12. Command and Parameter”)
6)
To make the adjustment simple, set IN “10” (pulse) and IS “50” [ms].
I
N
1#
0?
ENT
I
S
0?
.=
5%
ENT
?IS0.5
IN10,IS0.5,FW1.0
ID9000/OK
?_
Check the display for confirmation.
— 8-6 —
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7)
When rotational angle (ID) 9000 (90 degrees) is feasible, input “OK”.
O
K
IN10,IS0.5,FW1.0
ID9000/OK
?OK
:_
ENT
The motor starts the cycles as soon as “OK” is logged in.
(Firstly the Motor rotates clockwise (CW). )
l For changing rotational angle (ID) while “?” prompt is displayed, input desired ID without inputting
“OK.”
8)
To terminate the demonstration program input the command to display its menu screen. Press ENT
key after “?” to get out the demonstration program.
◊ Example for rotational angle: 30° (degree)
I
D
3< 0?
0?
0?
ENT
9)
?ID3000
IN10,IS0.5,FW1.0
ID3000/OK
?_
When the tria l running is completed, type
M
S
:MS
:_
ENT
to stop the Motor.
l If the Motor is operating satisfactly, complete the trial running.
l When the Motor operation is not stable, try further adjustment in chapter 8.2.5 and 8.3.
l If you want to get out from the demonstration program, press the enter key after “? .”
— 8-7 —
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8.2.5. Servo Gain Minor Adjustment (Tuning Level 2)
Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
l Perform minor adjustment of servo gain when the Automatic Tuning is not successful.
l Servo-gain can be adjusted by the parameter “SG.”
◊ Setting higher “SG” value improves response to the programmed motion profile. However,
if “SG” is too high, the Motor tends to vibrate.
l The same demonstration program in chapter 8.2.4 is used as the example for adjusting “SG” value.
(Follow the same procedures 1) ~ 7) in chapter 8.2.4 and keep operating the Motor.)
1)
Start “SG” adjusting program.
(1)
S
G
/
A
J
ENT
(5)
[+],[-],[ENT]
444( 333)
STEP1
_SG10
(2)
(3)
(4)
The message is displayed as shown below. Press plus (+) or minus (-) key to change “SG” value.
(The display shown above is an example. Those values shall be set to the conditions for actual use.)
l Explanation of the messages
(1)
Key function
SHIFT
and
-
+
: Pressing key one time increases 1 resolution of “SG.”
-
+
: Pressing key one time decreases 1 resolution of “SG.”
ENT : Store “SG” value to the memory.
(2)
Indicates present “SG” value.
(3)
Indicates “SG” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower numbers denotes better response.
(5)
Positioning index number: The lower number denotes quicker response.
Caution : Do not use space key or back space key. When it is used, the “SG” changing
resolution ( (2) ) may be altered.
2)
Observing the Motor operation, press the plus (+) key several times.
Pressing SHIFT ,
-+
-
+
•• •
[+],[-],[ENT]
333( 222)
STEP1
_SG13
As the responce index decreases, the movement of the Motor is getting crisply.
— 8-8 —
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3)
Keep pressing the plus (+) key, eventually the Motor starts hunting and stops.
Pressing SHIFT ,
4)
-
+
•• •
[+],[-],[ENT]
233( 123)
STEP1
_SG18
Keep pressing the minus (-) key until the Motor stops hunting and starts moving.
-
5)
-+
+
-+
[+],[-],[ENT]
253( 145)
STEP1
_SG16
• ••
Set “SG” value to 80% of displayed “SG” when the Motor stopped hunting. The Motor oprates
stable in any position.
[+],[-],[ENT]
263( 156)
STEP1
_SG13
6)
Type the enter key to complete the adjustment.
263( 156)
STEP1
SG13
:_
ENT
— 8-9 —
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8.3. Manual Tuning
Danger : Confirm that the work (or the Motor) does not hit any obstacle when the Motor
makes a full turn. Always stay in safe position.
l Manual tuning is needed when the automatic tuning did not work.
8.3.1. Precautions
1)
Initialize the servo parameters. Follow procedures in “8.2.2. Initialize Servo Parameters.”
2)
Execute the demonstration program referring to “8.2.4. Trial Running (Tuning Level 1).” It is not
abnormal, though the Motor operation is unstable at the beginning due to insufficient tuning.
3)
Input the command from the master controller when the control mode is the velocity control mode.
8.3.2. Adjustment of the Velocity Gain (VG)
1)
Start “VG” adjusting program.
V
G
/
A
J
ENT
(1)
[+],[-],[ENT]
444( 333)
STEP1
_VG1
(5)
The display shows the message as
shown on the left.
(2)
(3)
(4)
l Explanation of the messages
(1)
Key function
SHIFT
and
-
+
: Pressing key one time increases 1 resolution of “VG”.
-
+
: Pressing key one time decreases 1 resolution of “VG”
ENT
: Store “VG” value in the memory and completes the
adjustment.
(2)
Indicates present “VG” value.
(3)
Indicates “VG” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower number denotes better response.
(5)
Positioning index number: The lower number denotes quicker positioning.
Caution : Changing “VG” step ( (2) ).
If you want to change the resolution of step, press space key or back space
key.
Space key
: Changes the step to 1/10 of present resolution.
(Pressing twice makes 1/100.)
Back space key : Changes the step to 10 times of present resolution.
(Pressing twice makes 100 times.)
— 8-10 —
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2)
Observing the Motor operation, press the plus (+) key several times.
Pressing SHIFT ,
-+
-
+
•• •
[+],[-],[ENT]
333( 222)
STEP1
_VG3
As the responce index decreases, the movement of the Motor is getting crisply.
3)
Keep pressing the plus (+) key, eventually the Motor starts hunting and stops.
Pressing SHIFT ,
4)
-+
-
+
•• •
[+],[-],[ENT]
233( 123)
STEP1
_VG5
Keep pressing the minus (-) key until the Motor stops hunting and starts moving.
-
+
-+
[+],[-],[ENT]
253( 145)
STEP0.1
_VG4
• ••
5)
Set the “VG” value to 80% of displayed “VG” when a hunting is stopped.
4 × 0.8 = 3.2
6)
Press the space key to change the resolution of “VG” setting value from 1.0 to 0.1.
[+],[-],[ENT]
263( 156)
STEP0.1
_VG4
SP
7)
Press the minus key till “VG” value reaches to 3.2.
-
8)
+
-+
[+],[-],[ENT]
263( 156)
STEP0.1
_VG3.2
• ••
Press the enter key to store the “VG” value.
263( 156)
STEP0.1
VG3.2
:_
ENT
A colon ( : ) will appear to confirm the input.
— 8-11 —
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8.3.3. Adjustment of Velocity Integrator Frequency (VI)
l The adjustment of velocity integrator frequency (VI) shall be conducted after the velocity gain
(VG) is adjusted.
1)
Start “VI” adjusting program.
V
I
/
A
J
ENT
(1)
(5)
[+],[-],[ENT]
444( 333)
STEP1
_VI1
(2)
(3)
(4)
The messages are shown on the left.
Inputting the plus (+) or minus (-) key
changes “VI” value.
(The “VI” value varries with an actual
load inertia and revolution speed.)
l Explanation of the messages
(1)
Key function
SHIFT
and
-
+
: Pressing key one time increases 1 resolution of “VI.”
-
+
: Pressing key one time decreases 1 resolution of “VI.”
ENT
: Store “VI” value in the memory and completes the
adjustment.
(2)
Indicates present “VI” value.
(3)
Indicates “VI” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower number denotes better response.
(5)
Positioning index number: The rower number denotes quicker positioning.
Note : Changing “VI” step ((3)).
If you want to change the resolution of step, press space key or back space key.
Space key
: Changes the step to 1/10 of present resolution.
(Pressing twice makes 1/100.)
Back space key : Changes the step to 10 times of present resolution.
(Pressing twice makes 100 times.)
2)
Observing the Motor operation, press the plus (+) key several times.
Pressing SHIFT ,
-+
-+
•••
[+],[-],[ENT]
333( 222)
STEP1
_VI3
As the responce index decreases, the movement of the Motor is getting crisply.
3)
Keep pressing the plus (+) key, till the Motor starts hunting and stops.
Pressing SHIFT ,
-+
-+
•••
[+],[-],[ENT]
233( 123)
STEP1
_VI5
— 8-12 —
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4)
Keep pressing the minus (-) key until the Motor stops hunting and starts moving.
-
+
-+
[+],[-],[ENT]
253( 145)
STEP0.1
_VI4
• ••
5)
Set the “VI” value to 80% of displayed “VI” when a hunting is stopped.
4 × 0.8 = 3.2
Input the space key to change the resolution of “VI” setting value from 1.0 to 0.1.
6)
Press the minus key till “VI” value reaches to 3.2.
[+],[-],[ENT]
263( 156)
STEP0.1
_VI4
SP
7)
Input the enter key to store the “VI” value.
-
8)
+
-+
[+],[-],[ENT]
263( 156)
STEP0.1
_VI3.2
• ••
A colon ( : ) will appear to confirm the input.
263( 156)
STEP0.1
_VI3.2
:_
ENT
— 8-13 —
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8.4. Setting Filters (Tuning Level 2)
l The Motor may resonate mechanically and generate a noise of certain frequency when positioning.
The noise may be reduced using a software of “low-pass filters” (parameter FP and FS) provided
with the Megatorque Motor System. The unit of FP and FS is cycle / second (HZ).
◊ If low frequency less than 100 HZ is set to parameters “FP” and “FS,” hunting or unstable
positioning may occur.
l Before using filters, make sure that all adjustments of gain (VG) and integrator frequency (VI) are
completed.
l Use the same demonstration program (SA/AJ) for adjusting filters. Follow the procedures 1) ~ 7) in
“8.2.4. Trial Running (Tuning Level 1)”.
l When the system is used under the Torque or Velocity control mode, input the command from the
external controller.
1)
Start “FP” adjusting program.
(1)
F
P
/
A
J
ENT
(5)
[+],[-],[ENT]
444( 333)
STEP10
_FP500
(2)
(3)
(4)
The message is displayed as shown above. Press plus (+) or minus (key) to change “FP” value.
(The display shown above is an example. Those values shall be set to the conditions for actual use.)
l Explanation of the messages
(1)
Key function
SHIFT
and
-
+
: Pressing key one time increases 10 resolution of “FP”.
-
+
: Pressing key one time decreases 10 resolution of “FP”.
ENT
: Store “FP” value in the memory and completes the
adjustment.
(2)
Indicates present “FP” value.
(3)
Indicates “FP” value changed by pressing plus (+) or minus (-) key.
(4)
Response index number: The lower number denotes better response.
(5)
Positioning index number: The lower number denotes quicker positioning.
Caution : Changing “FP” step ((3)).
If you want to change the resolution of step, press space key or back space
key
Space key
: Changes the step to 1/10 of present resolution.
(Pressing twice makes 1/100.)
Back space key : Changes the step to 10 times of present resolution.
(Pressing twice makes 100 times.)
— 8-14 —
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2)
Decrease low-pass filter frequency (FP) to lower noise level by typing minus (-) key several times.
-
3)
+
-+
[+],[-],[ENT]
333( 222)
STEP10
_FP500
• ••
If the Motor starts to rotate unstably, increase “FP” value by typing plus (+) key several times.
Pressing SHIFT ,
4)
-+
-
+
[+],[-],[ENT]
233( 123)
STEP10
_FP120
•• •
Type the enter key to complete the adjustment.
233( 123)
STEP10
_FP120
:_
ENT
Note : To deactivate the filter, input the filter command with “0” data. For example type as:
F
P
0?
:FP0
:_
ENT
Note : Setting “Notch Filter”
◊ When setting notch filter, you can connect the ocsilloscope to monitor pins on Driver Unit
front panel to know the resonance frequency.
• Example
(i) Check the resonance frequency as shown in Figure 8-3.
(ii) If the resonance frequency is 200Hz, input
N
P
2$
0?
0?
ENT
to set notch filter frequency.
Figure 8-3
ESA
POWER
NSK
NSK
CN4
MOTOR
FUSE1
250V
T10A
FUSE2
250V
T10A
DISP.
CN1
Display
RS-232C
Ocsilloscope
CN2
Handy Terminal
:NP200
:_
I/O
CONT.
A C100-220V
MAIN
AC200-220V
R
VEL
GND
S
CN3
T
SENSOR
FGND
Type
VR1
MON
GND
CN5
I/O2
No.
NSK L
L t d . MADE IN JAPAN
200Hz (5ms)
— 8-15 —
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(Blank Page)
— 8-16 —
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9. Operational Function
9.1. General Operation and Function
9.1.1. Servo “ON”
l After the power to Driver Unit is turned on and its DRDY output circuit is closed, making SVON
input ON should make the Motor servo-on.
l The position error counter will be cleared when SVON input is OFF.
l When SVON input is ON, the “MO” command turns servo-off.
l The “SV” or “MS” command will cancel this “MO” command effect.
Figure 9-1
Power supply
ON
OFF
DRDY output
Close
Open
CPU initialise (2 sec approx.)
SVON input
ON
OFF
30ms max.
Motor servo
ON
OFF
RS-232C command
5ms max.
Invalid
SV or MS
MO
SV or MS
SV or MS
u Precaution when turning ON/OFF the main power supply and the control power
supply separately:
l When turning on the main power supply with the control power supply turned on: Turn on the main
power supply first, then the SVON input.
l When turning off the main power supply with the control power supply turned on: Turn off the
SVON input first, then the main power supply.
* When the main power supply is turned off in the servo-on state, the Driver Unit outputs the AC Line
under-voltage alarm. (Once this alarm occurs, it will not recover unless the power is turned on
again.)
Figure 9-2
Control power
supply
ON
OFF
Main power
supply
ON
OFF
SVON input
ON
OFF
1sec or more
— 9-1 —
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9.1.2. Emergency Stop
l Turning on the EMST input stops the position loop control function and stops the Motor in the
servo-lock state* under velocity loop control.
l No motion commands will be accepted while EMST input is on.
l In the EMST state, the LED on the front panel indicates “F4”. The DRDY output remains
unchanged (closed).
l The polarity of the EMST signal input port is set to A contact before shipment, but it can be changed
to B contact (refer to the AB parameter).
* Provide a mechanical brake when an external force is applied to the Motor as the position
loop control is not performed in this state. SERVO OFF cannot be established for 4
seconds after EMST input is ON even SVON input is OFF. Servo lock state won’t be
established if SVON input is OFF at the moment of EMST input is ON.
Figure 9-3
Activated
Position
Deactivated
control loop
SVON input
ON
OFF
10 ms min.
Servo
ON
OFF
EMST input
ON
OFF
4 sec
◊ The Driver Unit may not accept EMST input unless it stays on for 10 ms or longer.
◊ The Motor gets in Servo lock state in velocity loop control for 4 seconds after EMST input
is on even though SVON input is OFF.
◊ If the EMST input is ON while the main power is ON, the Motor gets in servo lock state
for 4 seconds. However, if the main power is OFF simultaneous with or after the input of
EMST, time for Servo lock state will be less than 4 seconds.
— 9-2 —
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9.1.3. Clearing Position Error Counter
l CLR (clear) input clears the internal position error counter of position loop.
l When the excess position error alarm arises, turning on the CLR input clears the position error
counter and recovers from the alarm state.
* The Driver Unit detects the rising edge of the CLR input signal and clears the position error counter
to zero. Then, the counter continues its operation regardless of the state of the CLR input (even it
remains on).
Figure 9-4
10ms min.
ON
OFF
CLR input
3ms max.
Position error
counter
3ms max.
Position error
counter over
limit value (CO)
0
Excess position Alarm
Normal
error alarm
l Alarms for software thermal, velocity abnormal, program error, RS-232C abnormal and automatic
tuning error may be cleared by CLR input. (Other alarms cannot be cleared by CLR input.)
9.1.4. Integration off (IOFF)
l Parameter VI (Velocity Integrator Frequency) will be invalidated when IOFF input is activated.
Simultaneously, VG (Velocity Gain ) will be lowered according to LG (Gain lowering coefficient)
setting. (VG × LG)
l VI is validated when IOFF input is turned off.
Figure 9-5
IOFF input
ON
OFF
10 ms max.
VI Setting
Velocity Gain (VG)
10 ms max.
VI Valid
VI Invalid
VI Valid
VG
VG × LG [%]
VG
— 9-3 —
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9.1.5. Over-travel Limit Switch
9.1.5.1. Hardware Over-travel Limit Switch
l Use the OTP and OTM inputs to restrict the range of Motor rotation.
l If the OTP input is activated, the Motor will stop immediately and remain in servo-on. The Motor
can rotate in counter clockwise only.
l If the OTM input is activated, the Motor will stop immediately and remain in servo-on. The Motor
can rotate in clockwise only.
* The polarity of the OTP and OTM input ports is set to A contact before shipment. It can be changed
to B contact. (Refer to the section of the AB parameter)
* Besides the OTP and OTM inputs, the Motor rotation can also be limited by software (software
over-travel limit function) in the Driver Unit. Refer to “9.1.5.2. Software Over-travel Limit
Switch.”
◊ When over-travel error occurs, the DRDY output will be open and LED on the front
panel indicates the following alarms.
OTP or OTM limit
: F3
Software over-travel limit : F2
Figure 9-6
OTP input
OTM input
ON
OFF
10ms max.
DRDY output
Close
Open
* When the OTP or OTM input works in the middle of Home Return operation, the Motor completes
the Home Return operation after performing the following:
1 When the Motor is turning to CCW
Caution : • The OTP input is invalid (the Motor continues rotation).
• Turning on the OTM input stops the Motor immediately.
2 When the Motor is turning to CW
Caution : • Turning on the OTP input stops the Motor immediately.
• The OTM input is invalid (the Motor continues rotation).
— 9-4 —
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9.1.5.2. Software Over-travel Limit Switch
Notes to be taken in over-travel limit setting
Caution : • The over-travel area should be 1000 [pulses] or wider. When the over-travel
area is too narrow the Motor may turn through the “off-limits” area.
• Set the over-travel limits with ample margin, giving consideration to the
overshoot of the mechanism controlled by the Motor.
• When “off-limits” area is specified by the software over travel limit, the Motor
rotates to the direction to avoid off-limit area regardless of moving distance.
(Commands AD and AR is disregarded, even it is set.)
l This function becomes valid after the Home position is determined by Home Return or AZ
command.
l Use the OTP and OTM commands to set the over-travel limit values.
<Operation> Setting by teaching
1)
Turn off the Motor servo.
M
O
:MO
:_
ENT
2)
Move the Motor’s rotor manually to a point to be the over-travel limit on the plus side.
3)
Input the password.
4)
/
N
S
O
N
ENT
K
:MO
:/NSK ON
NSK ON
:_
SP
Register the present position as the over-travel limit on the plus side. The registered
over-travel limit value appears on the display.
O
T
P
/
S
ENT
T
:OTP/ST
OTP123456
OTM0
:_
5)
Move the Motor’s rotor manually to a point to be the over-travel limit on the minus side.
6)
Input the password.
/
N
S
O
N
ENT
K
SP
:MO
:/NSK ON
NSK ON
:_
— 9-5 —
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7)
Register the present position as the over-travel limit on the minus side. The registered
over-travel limit value appears on the display.
O
T
M
/
S
T
ENT
8)
:OTM/ST
OTP123456
OTM456789
:_
Move the Motor’s rotor into the over-travel area. Check that the Driver Unit outputs the
F2 alarm. (Check the alarm indicated on the LED or input the TA command)
l If the F2 alarm is not output this time, check the following:
◊ Is the home position between OTP and OTM?
◊ In the single rotation position scale: Is OTP < OTM?
◊ In the Linear position scale: Is OTP a positive value? OTM a negative value?
Setting by position scale data
l When the over-travel limit values are already known, user can directly set these values to the OTP
and OTM command parameters.
9.1.6. Alarm Output
l After the power is on and “CPU” is initialized, “DRDY” output is closed when alarms are not
reported.
l The “DRDY” output opens when the alarm is detected.
l Alarm signal shall be connected to “alarm input” of the master controller.
Figure 9-7
Power supply
DRDY output
ON
OFF
CPU initialize
(2 sec. approx)
Alarm “ON”
Close
Open
— 9-6 —
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9.1.7. Brake Signal Output
l The BRK output opens in the following states:
1)
SVON input : OFF
2)
Occurrence of an alarm which makes the Motor servo to turn off (example : memory
error, etc.).
3)
During system initialization after the power is turned on
4)
EMST input : ON
Figure 9-8
Power supply
ON
OFF
DRDY output
Close
Open
SVON input
ON
OFF
EMST input
ON
OFF
BRK output
Close
Open
Occurrence of alarm
causing servo-lock
Occurrence of alarm
causing servo-off
Invalid
* This signal can be used to control negative (normally on) brake, which activates the external brake
when the Motor servo goes off or the EMST is input.
— 9-7 —
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9.1.8. In-Position Output
l In-Position output condition is determined by the following parameters.
Table 9-1
Parameter
Function (Name)
FW
IPOS outputting time range (Output mode)
IN
In-Position limit value
IS
In-Position stability timer
Shipping set
FW1
IN100
IS0
Figure 9-9
RS-232C communication
command or RUN input
IR100
Determined by the IS set value
Example IS1: 0.1 sec
Position error
IN value
IPOS output
IPOS mode (FW = 0)
Close
Open
IPOS output
FIN mode (FW ≠ 0)
Close
Open
FW value
Example FW1: 100 ms
Pulse command
Position error counter
residual pulse
IPOS output
IPOS mode (FW = 0)
IN set value
Close
Open
— 9-8 —
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9.1.8.1. Output Signal Format
l The output signal format · · · either IPOS format or FIN format · · · can be selected by setting the
FW parameter.
◊ FW data : FIN format is selected when data ≠ 0 (shipping set : FW1)
◊ FW0
: IPOS format
1 When data of parameter “FW” is not “0” (Zero) (FIN mode)
l “IPOS” output indicates that the positioning has completed.
l IPOS will be output for every positioning start command such as RUN and HOS .
l Out put state
◊ IPOS output is always open and it closes only for the moment set by “FW” when the
positioning completes (The unit of closing time in “FW” is 100m sec. Shipping set FW1 :
100m sec.)
Recommendation
We recommend to use FIN mode when you use the programmable indexer in the Driver Unit.
l “IPOS” will not be output for pulse train operation and jog operation.
l When the positioning is disturbed in the middle of operation by the emergency stop or over-travel
limit switch, “IPOS” will not be output.
2 When “data” of parameter “FW” is 0 (Zero) (IPOS mode)
l The format is to indicate if there is a difference between position command and current position.
l Basically “IPOS” output will be closed only when residual pulses in the position error counter is
within the range set by “IN” parameter. In other state, it is open.
l However, even residual pulses in the position error counter is within the “IN” value, output is forced
to open during pulses are generated internally when executing programmable indexer, Home
Return, jog and operations via the RS-232C communication.
Recommendation
Select “IPOS” mode for pulse train command operation or a positioning via the RS-232C
communication.
l When the positioning is disturbed in the middle of the operation by emergency stop or over-travel
limit signal, IPOS output will stay closed if residual pulses of position error counter are within the
“IN” value.
l When executing pulse train command operation, even pulses are being input, IPOS output is closed
if residual pulses in the position error counter are within “IN” value.
[This state tends to occur when executing low speed operation or feed forward compensation is
applied (“FF” parameter).]
— 9-9 —
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9.1.8.2. Parameter “IN”
l Parameter “IN” is to decide positioning accuracy.
l “IPOS” output will be closed when residual pulses of position error counter are within the range of
“IN” parameter.
l The unit of parameter “IN” value is the maximum resolution (pulses) of the motion detector
(resolver).
Table 9-2
[Unit: pulse/r]
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Resolution
614 400
491 520
409 600
u Example (YS series)
l Desired positioning accuracy (repeatability) : ±100 sec.
“IN” set value =
=
resolver resolution
× repeatability (degree)
360
614 400
100
×
360
3 600
= 47 pulses
9.1.8.3. Parameter “IS”
l “IS” is to confirm the stability of the positioning. In case of in-position output signal is IPOS format,
if the parameter “IN” value is smaller (roughly less than IN10), “IPOS” output will be instable in a
moment of positioning settling, even all the servo gains are adjusted properly.
l “IS” parameter should be set to eliminate above instability.
l When “IPOS” output is in “FIN” mode, “IS” parameter prevents to output IPOS signal before the
Motor completes the positioning.
— 9-10 —
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9.1.8.4. “IPOS” Output in Special Occasion
1 When 0 (Zero) movement operation is executed.
u Example
When [AD0] or [AR0] is executed even the Motor is in the Home position, movement of the Motor is 0
(Zero). Followings show “IPOS” output states in such a case.
1)
“IPOS” mode
IS = 0
◊ There is no internal pulse output and “IPOS” output remains close if residual pulse of
position error counter are within “IN” value.
2)
“IPOS” mode
IS ≠ 0
◊ Even no pulse is internally generated, “IPOS” output will be opened for the moment set by
“IS” value to check positioning stability.
3)
“FIN” mode
◊ Even no pulse is generated internally, “IPOS” output signal shall always be returned for
positioning start command.
2 Sequential operation* for Programmable Indexer.
1)
“IPOS” mode
◊ After the positioning is completed, execute next channel program, while “IPOS” output
remains open.
2)
“FIN” mode
◊ After the positioning is completed, “IPOS” output closes for the moment which is set by
the parameter “FW,” then execute the next channel’s program after “IPOS” output is
opened again.
— 9-11 —
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9.1.9. Position Feedback Signal
u Resolution
l Set the øA/øB resolution using the FR parameter (via RS-232C).
Table 9-3
[Unit: pulses/rotation]
Feedback signal
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
øA, øB
FR1
153 600
122 880
102 400
FR0
38 400
30 720
25 600
øZ
150
120
100
* When the resolver resolution is set to the automatic resolution switching or 10-bit setting, set the FR
parameter to FR0. When it is set to FR1, øA/øB will not be output.
u Output timing
Figure 9-10
CW rotation
CCW rotation
CHA output (øA)
∗CHA output (øA)
CHB output (øB)
∗CHB output (øB)
CHZ output (øZ)
∗CHZ output (øZ)
open
∗CHZ
close
CHZ output (MSB)
*CHZ output (MSB)
* The phase can be reversed by the FD parameter (set via RS-232C).
FD0 : Standard ; at CW rotation, leading phase øA
FD1 : Reverse ; at CW rotation, leading phase øB
* The output specification of the CHZ signal--whether to output øZ or MSB--is selected by the FZ
parameter (set via RS-232C).
FZ0 : øZ
FZ1 : MSB
— 9-12 —
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9.1.10. Monitor Functions
l The Motor operation can be monitored by using the analog velocity monitor pins, which are provided
in the front panel of Driver Unit, and RS-232C communication.
Table 9-4
Item
RS-232C
communication
command
Velocity
–
Position
error
TE
Input/output
IO
Current
position
TP
Parameter
value
TS
Alarm
TA
Channel
program
TC
Analog
monitor
MN
Monitor output
Description
VELOCITY check pin • Monitors the Motor velocity in forms of analog
on the front panel
voltage output.
• Monitors value of the position error counter.
• For the details, refer to “12. Commands and
Parameter.”
• Monitors the input/output status (on/off) of
CN2.
• For the details, refer to “12. Commands and
Parameter.”
• Monitors the current position in the absolute
position scale.
CN1 via RS-232C
• For the details, refer to “12. Commands and
terminal
Parameter.”
• Monitors the set values of parameters.
• For the details, refer to “12. Commands and
Parameter.”
• Monitors the alarm status.
• For the details, refer to “14.1.2. Using TA
Command.”
• Monitors the program stored in the channels.
• For the details, refer to “12. Commands and
Parameter.”
• Motor velocity and residual pulses of the
Front panel MON
position error counter may be monitored in
(GND) terminal
analog data.
— 9-13 —
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9.1.10.1. Velocity Monitor
l The user can monitor the velocity of the Motor by measuring the voltage between VELOCITY and
GND check pins on the front panel.
u When the resolver is set to 12-bit resolution
Note : ±10 V is only a typical value; actual values vary slightly. The voltage is not a precise
representation of the velocity.
Figure 9-11
CW Maximum
velocity
+10V
-10V
CCW Maximum
velocity
u When the resolver is set to 10-bit resolution or automatic resolution switching
Note : ±7.5 V is only a typical value; actual values vary slightly. The voltage is not a precise
representation of the velocity.
Figure 9-12
CW Maximum
velocity
+7.5V
-7.5V
CCW Maximum
velocity
[Unit: s -1 ]
Table 9-5: Maximum velocity
Resolver resolution
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
12-bit setting
1
1.25
1.5
Automatic resolution
switching or 10-bit setting
3
3.75
4.5
l Automatic resolution switching, 12-bit setting and 10-bit setting are selected by the RR parameter.
— 9-14 —
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9.1.10.2. Monitoring I/O State (IO)
l The Input/Output signal status of CN2 and CN5 connectors can be monitored using “IO”
command.
l This is useful to check the wiring.
◊ Input format
IO0/RP : Monitor I/O state
IO2/RP : Monitor the I/O related to programmable indexer
IO3/RP : Monitor the I/O related to Jog operation
Note : /RP is to set the frequency of the monitoring.
Without /RP : One-shot monitoring
With /RP : Real-time monitoring (Repeats monitoring)
◊ Display format
Bit map representing Input/Output in 1 line (See Figure 9-13 to 9-15.)
l The status is displayed on the Handy Terminal screen.
Figure 9-13: IO0/RP (Monitor I/O state)
A B C D E F G H
∗ ∗ ∗ ∗ ∗ ∗ ∗ ∗
I
/
J K L M
∗ ∗ ∗ ∗
Pin No.
Signal name
CN5_21 (1)
HOME output
CN2_14
IPOS output
CN2_3
BRK output
CN2_15 (2)
DRDY output
CN2_9
OTP
CN2_22
OTM
CN2_10
CLR
CN2_23
HOS
CN2_11
HLS
CN2_24
IOFF
CN2_12
EMST
CN2_25
SVON
— 9-15 —
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Figure 9-14: IO2/RP (Monitor I/O related to programmable indexer)
A B C D E F G H I J K L M N
∗ ∗ ∗ ∗ ∗ ∗ ∗ 0 0 0 / ∗ 0 0
Pin No.
Signal name
Reserved (always 0) Reserved
Reserved (always 0) Reserved
CN2_14
IPOS output
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
CN5_17
RUN
CN5_11
PRG0
CN5_12
PRG1
CN5_13
PRG2
CN5_14
PRG3
CN5_15
PRG4
CN5_16
PRG5
Figure 9-15: IO3/RP (Monitor the I/O related to Jogging operation)
A B C D E F G H I J K L M N
∗ ∗ 0 0 0 0 0 / 0 0 0 0 0 0
Pin No.
Signal name
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
Reserved (always 0) Reserved
CN5_31
DIR
CN5_30
JOG
Table 9-6: Meaning of display data
Input port
Output port
Display: 1
ON
Close
Display: 0
OFF
Open
Figure 9-16: Example of monitoring
:IO0/RP
ABCDEFGHIJKLM
01000011/0010
EMST, OTP, and OTM are input from CN2 connector.
Outputs : DRDY ··· open BRK ··· open
IPOS ··· close HOME ··· open
Press BS to terminate the monitoring.
— 9-16 —
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[Example] Verify the Programmable Indexer start command “RUN” is ON.
1)
Confirm that the display of Handy Terminal shows the colon “:.”
(If the colon does not appear on the display press ENT key once. )
:_
2)
Input the command to read out state of Inputs/Outputs.
I
3)
2$
:IO2_
Add /RP for repetitious readout.
/
4)
O
R
:IO2/RP_
P
Press the enter key to execute.
Readout starts immediately after the input.
ABCDEFGHIJKLMN
0000001000/000
ENT
RUN
5)
Press the back space key to discontinue read out. If it is not pressed, read out will be
repeated and the next command can not be accepted.
ABCDEFGHIJKLMN
0000001000/000
BS
RUN
l Above example shows that readout of RUN input is “1”, which indicates “RUN” input is ON.
[Reference]
◊ Readout follows the changes of signal status while repeating reading-out.
(Signals ON and OFF are followed by 1 and 0 in the display.)
◊ If the option code “/RP” is not entered, the read-out at the moment will be displayed for
only once.
— 9-17 —
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9.1.10.3. Reading Current Position
1 Reading current position via the position scale in the unit of pulses
1)
Current position is displayed in real time in the units of pulse.
Readout indicated on the display changes immediately following motion of the rotor.
T
P
2$
/
R
P
ENT
2)
:
:
:TP2/RP
********
Press the BS key to end the display.
:
:TP2/RP
********
:_
BS
2 Reading current position via the position scale in the unit of 1/100 degree
1)
Reading current position via the position scale in the unit of 1/100 degree.
Readout indicated on the display changes immediately following motion of the rotor.
T
P
5%
/
R
ENT
2)
P
:
:
:TP5/RP
********
Press the BS key to end the display.
:
:TP5/RP
********
:_
BS
— 9-18 —
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9.1.10.4. Analog Monitor
l The voltage between analog output pin (MON) and analog ground pin (GND) on the front panel of
the Driver Unit monitors one of the following Motor and Driver Unit conditions.
◊ Velocity ----------------------- actual velocity of the Motor
◊ Velocity command ----------- velocity command given to the Motor from the Driver
Unit
◊ Velocity error ----------------- error between velocity command and actual velocity, per
one sampling interval
◊ Torque command ------------ torque command given to the Motor from the Driver Unit
◊ Phase C current command -- current command given to the Motor phase C from the
Driver Unit
◊ Position command ------------ position command given to the Motor from the Driver
Unit
◊ Position error counter -------- error between position command and actual position
l MN command select one of the conditions to be monitored as shown in Table 9-7.
Table 9-7
Monitoring condition
Velocity
Velocity command
Velocity error
Torque command
Phase C current command
Position command
Position error
Position error
MN command
MN 0
MN 1
MN 2
MN 3
MN 4
MN 5
MN 6
MN 7
l The monitor output scale are shown hereunder.
Figure 9-17: Velocity (MN0)
Figure 9-18: Velocity command (MN1)
CW maximum
velocity
CW maximum
velocity
–5V
–10V
+5V
+10V
CCW maximum
velocity
CCW maximum
velocity
— 9-19 —
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Figure 9-19: Velocity error (MN2)
Figure 9-20: Torque command (MN3)
CW maximum
velocity / 8
CW maximum
torque
–10V
–10V
+10V
+10V
CCW
maximum
CCW maximum
velocity / 8
Figure 9-21: Phase C current command (MN4)
Figure 9-22: Position command (MN5)
CW maximum
velocity
Maximum
current
–5V
+10V
+5V
CCW maximum
velocity
Figure 9-23: Position error (MN6)
Figure 9-24: Position error (MN7)
CW
127 pulses
CW
16383 pulses
–10V
–10V
+10V
+10V
CCW
127 pulses
CCW
16383 pulses
Caution : The maximum velocity shown in above figures is for the cases when the
selection of resolver resolution is automatic or 10 bit setting.
— 9-20 —
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9.2. For More Advanced Operation
9.2.1. Position Scale
l The ESA25 Driver Unit has a position scale to control positioning and over-travel limit.
9.2.1.1. Resolution
l The Motor resolver has teeth for detecting its position, and each tooth is digitally divided into 4096.
In other words, the resolution of Motor is 4096 × number of teeth.
l Table 9-8 lists Motor series and the resolution.
Table 9-8
[pulse/r]
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Number of teeth
150
120
100
Resolution
614 400
491 520
409 600
9.2.1.2. Direction of Position Scale
Caution : For your safety, the direction of the hardware over-travel limit switches are
fixed to the Motor as follow regardless the DI setting:
◊ OTP : CW direction
◊ OTM : CCW direction
l The direction of position scale counting can be switched by the DI command.
Table 9-9
DI setting
DI0*
DI1
CW direction
Plus direction
Minus direction
CCW direction
Minus direction
Plus direction
* : Shipping set
l When the position scale direction is set, the directions of operations performed by the following
functions are also determined.
◊ Pulse train operation
◊ Positioning via communication (IR, ID, AR, AD, HS)
◊ Programmable indexer
◊ Home Return
◊ Jog
◊ Software over-travel limit switch
— 9-21 —
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9.2.1.3. Types of Position Scale
l Three types of position scale are available for the user to select the appropriate type for each
purpose. Position scale type can be switched by setting the PS command.
Table 9-10
PS setting
Type of position scale
PS0
Linear position scale
PS1*
Single-rotation position scale
PS2-99
Multi-rotation position scale
Application
Ball screw driving, limit motion range.
General indexer, etc.
Chain driving, etc.
* : Shipping set
1 Linear position scale
l This position scale extends linearly from the origin in both plus and minus directions.
l Scale values range from -2 147 483 648 [pulses] to +2 147 483 647 [pulses] with the Home position
at 0. The coordinate value increases in the plus direction. When it exceeds +2 147 483 647 [pulses],
the value returns to -2 147 483 648 [pulses]. Falling below -2 147 483 648 [pulses], the value returns
to +2 147 483 647 [pulses].
Figure 9-25: Linear position scale
Motor series: YS, JS1, JS2, RS
Home position (origin) or AZ command execution point
↓
→ CW direction
CCW direction ←
-2 147 483 648
-460 800
-270°
-614 400
-360°
-153 600
-90°
-307 200
-180°
153 600
90°
0
0°
460 800
270°
307 200
180°
2 147 483 647
614 400
360°
Motor series: SS
Home position (origin) or AZ command execution point
↓
→ CW direction
CCW direction ←
-2 147 483 648
-368 640
-270°
-491 520
-360°
122 880
-90°
-245 760
-180°
122 880
90°
0
0°
368 640
270°
245 760
180°
2 147 483 647
491 520
360°
Motor series: AS, BS, JS0
Home position (origin) or AZ command execution point
↓
→ CW direction
CCW direction ←
-2 147 483 648
-307 200
-270°
-409 600
-360°
-102 400
-90°
-204 800
-180°
102 400
90°
0
0°
-307 200
270°
204 800
180°
2 147 483 647
409 600
360°
— 9-22 —
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2 Single rotation position scale
l Scale starts from the Home position (origin) and extends only in the plus direction. The coordinate
value returns to 0 after a 360° turn.
◊ Motor Series : YS, JS1, JS2 and RS
Coordinate values from 0~614 399 [pulses]
◊ Motor Series : SS
Coordinate values from 0~491 519 [pulses]
◊ Motor Series : AS, BS and JS0
Coordinate values from 0~409 599 [pulses]
Figure 9-26: Single-rotation position scale
Motor series: YS, JS1, JS2, RS
270°
0°
460 800 pulses
Home position (origin) or AZ command
executing point.
CW
direction
180°
307 200 pulses
90°
153 600 pulses
Motor series: SS
270°
0°
368 640 pulses
Home position (origin) or AZ command
executing point.
CW
direction
180°
245 760 pulses
90°
122 880 pulses
Motor series: AS, BS, JS0
270°
0°
307 200 pulses
Home position (origin) or AZ command
executing point.
CW
direction
180°
204 800 pulses
90°
102 400 pulses
— 9-23 —
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3 Multi-rotation position scale
l Scale starts from the Home position (origin) and extends only in the plus direction. The value returns
to 0 after making the number of revolutions set by “PS” command.
◊ Motor Series : YS, JS1, JS2 and RS
Coordinate values range from 0 to [614 400 × (PS data) -1]
◊ Motor Series : SS
Coordinate values range from 0 to [491 520 × (PS data) -1]
◊ Motor Series : AS, BS and JS0
Coordinates values range from 0 to [409 600 × (PS data) -1]
Figure 9-27: Multi-rotation position scale
Motor series: YS, JS1, JS2, RS
Home position (origin) or AZ command execution point
↓
CCW direction ←
→ CW direction
P-460 800 P-153 600
? -270°
? -90°
P-614 400 P-307 200
? -360°
? -180°
153 600
90°
0
0°
460 800
270°
307 200
180°
614 400
360°
Value returns to 0 after making the number of
revolutions set by the PS command.
P = 614 400 × (PS value)
θ = 360 × (PS value)
Motor series: SS
Home position (origin) or AZ command execution point
↓
CCW direction ←
→ CW direction
P-368 640 P-122 880
? -270°
? -90°
P-491 520 P-245 760
? -360°
? -180°
122 880
90°
0
0°
368 640
270°
245 760
180°
491 520
360°
Value returns to 0 after making the number of
revolutions set by the PS command.
P = 491 520 × (PS value)
θ = 360 × (PS value)
Motor series: AS, BS, JS0
Home position (origin) or AZ command execution point
↓
CCW direction ←
→ CW direction
P-307 200 P-102 400
? -270°
? -90°
P-409 600 P-204 800
? -360°
? -180°
102 400
90°
0
0°
-307 200
270°
204 800
180°
409 600
360°
Value returns to 0 after making the number of
revolutions set by the PS command.
P = 409 600 × (PS value)
θ = 360 × (PS value)
— 9-24 —
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9.2.1.4. Position Scale Reset
Caution : • The position scale value is not decided immediately after the power is turned
on. Be sure to reset the position scale before positioning.
• The position scale value is reset to 0 by the following operations.
◊ Home Return completion
◊ AZ command input
9.2.1.5. Example of Position Scale Setting
1 Set the CCW direction of the position scale as the plus direction.
1)
2)
Input the password.
The password acknowledgment message appears on the display.
/
N
S
O
N
ENT
K
SP
:
:/NSK ON
NSK ON
:_
Input the DI command to determine the position scale direction.
D
I
1#
:/NSK ON
NSK ON
:DI1
:_
ENT
2 Setting the linear position scale
1)
2)
Input the password.
The password acknowledgment message appears on the display.
/
N
S
O
N
ENT
K
SP
:
:/NSK ON
NSK ON
:_
Input the PS command to determine the type of position scale.
P
S
0?
ENT
:/NSK ON
NSK ON
:PS0
:_
— 9-25 —
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3 Resetting the position scale value
1)
2)
Input the password.
The password acknowledgment message appears on the display.
/
N
S
O
N
ENT
K
SP
:
:/NSK ON
NSK ON
:_
Input the AZ command to reset the position scale value.
A
Z
:/NSK ON
NSK ON
:AZ
:_
ENT
— 9-26 —
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9.2.2. Direction of Position Scale
Caution : • When DI data is changed, turn off the power, then the user origin must be
reset.
• Directions of hardware over-travel limit and the phase of position feedback
signal output will not be reversed even though the direction of the position
scale is reversed.
l Counting direction of position scale may be reversed not to hinder the operation when the Motor
mounting position is reversed.
◊ CW/CCW direction are determined from the view of the Motor output axis side.
◊ Direction of counting position scale shall be set by DI data (DI command).
◊ Table 9-11 below shows relations between DI data and direction of counting.
Table 9-11
DI data
0
1
Format
Standard
Reversed
CW direction
Plus direction
Minus direction
CCW direction
Minus direction
Plus direction
Shipping set
ü
l Direction of the following function/operation will be reversed when the direction of the position
scale is reverse.
◊ Direction of all operations
◊ Setting of software over travel limit
◊ Readout of absolute position
◊ Direction of positon off-set
— 9-27 —
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9.2.3. Digital Filter
Caution : • Inserting multiple filters may cause phase inversion of velocity loop in some
systems, resulting in unstable operation.
• Do not insert more than two filters. Setting a filter frequency too low may
cause hunting, etc.; set the frequency to 100 Hz or above.
Parameters for digital filter setting
u Parameters : FP, FS, NP, NS
l Sets filter frequency in the velocity loop.
l The filters are useful for eliminating audible noise and vibration due to mechanical resonances.
Table 9-12: Parameter function
Parameter
FP
FS
NP
NS
Function
Sets the primary low-pass filter frequency.
Sets the secondary low-pass filter frequency.
Sets the primary notch filter frequency.
Sets the secondary notch filter frequency.
Shipping set
FP0
FS0
NP0
NS0
l Refer to “12. Command and Parameter” for more details.
Figure 9-28: Digital filter block diagram
Velocity
command +
Velocity
loop gain
Velocity loop
integrator
Primary
low-pass
filter
Secondary
low-pass
filter
Primary
notch
filter
Secondary
notch
filter
VG
VI
FP
FS
NP
NS
–
Velocity data
— 9-28 —
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9.2.4. Feed Forward Compensation: FF
l Function of feed forward is to generate a velocity command by differentiating the position
command and then add it to the velocity loop in the forward direction. Parameter FF sets the feed
forward compensation gain. It requires the password for entry.
l The shipping set of the parameter FF is FF0.
l It improves following error during acceleration / deceleration.
l Setting the FF parameter to a higher value improves the following error. However, overshoot
becomes more likely to occur. It is recommended that the parameter is set to 0.5 or below.
Figure 9-29: Feed Forward Compensation Block Diagram
Feed forward
compensation gain
Differentiation
FF
Position
loop gain
Position
command
+
–
+
PG
Position data
+
Velocity
command +
–
Velocity data
— 9-29 —
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9.2.5. Integrator Limit : ILV
l Parameter “ILV” sets the upper limit of the velocity gain. Shipping set is ILV100.
l The password is necessary for setting “ILV”.
l Integrator limiter reduces overshoot caused by the integrator during high acceleration /
deceleration.
l The integrator is indispensable for highly precise positioning. However, when a high-speed
acceleration/deceleration is specified, errors are likely to accumulate so that integration often
results in an overshoot. To prevent this, an integrator limiter is provided to restrict an excessive
integration.
* For more details about the parameter, refer to “12. Commands and Parameters”.
Figure 9-30: Integrator limiter block diagram
Position
loop gain
Position
command +
Velocity
loop gain
Velocity loop integrator
+
PG
–
Position data
–
Velocity data
VG
VI
ILV
Integrator Integrator
frequency
limiter
Figure 9-31
Integration gain
ILV
[%]
Error
ILV
[%]
— 9-30 —
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9.2.6. Dead Band Setting : DBP
l Dead band is set in position deviation of position loop. The system disregards the position deviation
when it is under the set value of DBP.
l It requires the password for setting. The shipping set is DBP0.
l In some application micro-vibration at the end of positioning is observed due to small position
deviation. The dead band is to reduce the micro-vibrations.
l The dead band improves in occurrence of the micro-vibrations, however it worsens positioning
repeatability for the value of DBP setting.
l The dead band is centered at “0” to position error and the position deviation under the value of dead
band is disregarded. Thus it makes position command to “0.”
l Unit of DBP is the pulse. (equivalent to the resolver resolution in 12-bit specification) If the rsolver
resolution is 10-bit specification, set the DBP value in multiples of 4. Refer to “4.2.3. Functional
Specifications” for resolution of the resolver.
Figure 9-32: Dead Band Setting Block Diagram
Position
command +
Position loop
dead band
Position
loop gain
DBP
PG
–
Velocity
loop gain
Velocity loop
integrator
VG
VI
+
Position data
–
Velocity data
— 9-31 —
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9.3. RS-232C Communication
9.3.1. Specification of Communication
l Setting of various parameters, trial running, and adjustment are enabled by issuing commands to the
Driver Units through serial communication (i.e., communication through the RS-232C interface).
l The Driver Unit has CN1 as the input/output ports for RS-232C communication.
l When the Handy Terminal (FHT11) is not in use, set the MM parameter to 0.
MM1 : Standard setting (for the Handy Terminal)
MM0 : For connection with a personal computer
Table 9-13: RS-232C communication specification
Item
Transmission
Communication speed
Word length
Stop bit
Parity
Character code
Communication procedure
Specification
Asynchronous, full duplex
9600 b.p.s.
8 bit
2 bit
No
ASCII code
• X–On/Off Protocol : No
• RTS/CTS Control
: Yes
9.3.2. Communication Procedure
9.3.2.1. When Power is Turned on
l If a terminal (such as NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit
power is turned on, the message shown below is displayed.
l The contents (and the number of characters) of this message may differ with the Driver Unit
setting and system versions.
l When the Driver Units are initialized, a colon ( : ) is displayed and the system waits for a command
to be entered. (The colon ( : ) is called a prompt.)
Figure 9-33: Power-on message
NSK MEGATORQUE
MS1A50_xxxx
Exxxxxxxxxx
:_
Slightly differs with system configurations.
Indicates that internal initialization is completed
and a command may be accepted.
Caution : Connect and disconnect the communication cable (CN1) when the power to
Driver Unit is off. Otherwise it may lead to an alarm of communication error
and system breakdown.
— 9-32 —
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9.3.2.2. Command Entry
l A communication command shall consist of “a command (character string) + data (if necessary) +
carriage return code (0DH)”.
l If the velocity gain is to be set to 0.5, for example, “VG0.5” should be entered by adding data of 0.5
to a VG command. The characters of this command with data are transmitted to the Driver Unit as
shown below:
Figure 9-34: Example Of VG0.5
V code (56H)
G code (47H)
0 code (30H)
. code (2E H)
5 code (35H)
Carriage return code (0D H)
Press the ENT key if the handy terminal
FHT11 is used.
l Every time a character is input, the Driver Unit echoes the character back to the terminal. (The
Driver Unit returns the same character that it receives.)
l However, the Driver Unit converts carriage return code to “carriage return code (0DH) + line feed
code (0AH),” then returns it to the terminal.
l When a carriage return code is input, the Driver Unit decodes a character string which it has
received (VG0.5 in the example above) and executes it. Therefore, a command is not executed
unless it ends with a carriage return code.
l If the Driver Unit can decode an entered command, it returns “ : ” close behind the line feed code.
If it receives an internal data readout command, etc., it returns the data before “ : ”.
Figure 9-35: Successful input example
:VG0.5
:_
Entered command.
Waiting for another command to be entered.
Input (To Driver Unit)
V
G
0
.
5
0DH
Echo back (From Driver Unit)
V
G
0
.
5
0DH
0AH
:
— 9-33 —
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9.3.2.3. Password
l Among the communication commands used for this System, some special commands (such as AB,
PA, SI, etc.) require password entry for preventing erroneous entries. These commands cannot be
entered in the same manner as other commands.
l The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts
it, it returns an “NSK ON” message.
l A command requiring password entry may only be executed immediately after the password is
entered.
Figure 9-36: Password Example
:/NSK ON
NSK ON
:_
Entered passward
Returned message
Waiting for a command to be entered
Input (To Driver Unit)
/
N
S
K
O
N
0DH
Echo back (From Driver Unit)
(a)
(b)
/
N
S
N
S
K
K
O
O
N
0DH
N
0DH
0AH
0AH
(a)
(b)
:
— 9-34 —
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9.3.2.4. Canceling Command
l A command which has been entered halfway, entering a backspace code (08H) can cancel a
character or an entered full character string. Parameter “backspace mode” (BM) sets the
cancelling method.
BM0 : a backspace code cancels an entered character string.
BM1 : a backspace code cancels a character.
[When the Handy Terminal FHT11 is used, press the backspace (BS) key.]
1 Parameter “BM1” (Shipping set)
l For example, when the backspace code is input following VG0.5, the cursor moves one space back
to the position where 5 was input and thereby deletes 5.
Figure 9-37: Canceling example (BM1)
:VG0.5_
:VG0._
→ Input BS Key →
(08H)
Input (To Driver Unit)
V
G
0
.
5
.
5
08H
Echo back (From Driver Unit)
V
G
0
08H
20H
08H
2 Parameter “BM0”
l For example, when the backspace code is input following VG0.5, a message “VG0.5?” and a colon
“ : ” are displayed and thereby deletes “VG0.5.”
Figure 9-38: Cancelling example (BM0)
:VG0.5_
→ Input BS Key →
(08H)
:VG0.5
VG0.5?
:_
Input (To Driver Unit)
V
G
0
.
5
08H
Echo back (From Driver Unit)
(a)
(b)
V
G
0
.
5
0DH
0AH
V
G
0
.
5
?
0DH
(a)
0AH
(b)
:
— 9-35 —
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9.3.2.5. Error
l Note that an error occurs in any of the following cases:
1)
If a nonexistent command (i.e., character string) is entered. (If an entered character
string cannot be decoded.)
2)
If data or subscript out of the allowable range is entered.
3)
If a command requiring the password is entered without the password.
◊ In any of these cases, the entered character string with a “?” mark is returned as an error
message.
◊ For example,
Figure 9-39: Input error example 1
:ABCDE
ABCDE?
:_
If ABCDE is entered, an error message is returned
since this character string is not a command.
Input (To Driver Unit)
A
B
C
D
E
0DH
Echo back (From Driver Unit)
(a)
(b)
A
B
C
D
E
0DH
0AH
A
B
C
D
E
?
0DH
(a)
(b)
0AH
:
4)
If the input condition is not met when entering a command.
◊ In this case, the entered character string with “INHIBITED” is returned.
◊ For Example,
Figure 9-40: Input error example 2
If an IR command (Incremental Positioning,
Rresolver) is entered when the Motor is rotating, an
error message is returned since the input condition is
not met.
:IR10
IR INHIBITED
:_
Input (To Driver Unit)
I
R
1
0
0DH
Echo back (From Driver Unit)
(a)
(b)
0DH
I
R
1
0
0DH
0AH
I
N
H
I
B
I
0AH
:
T
I
R
(a)
E
D
(b)
— 9-36 —
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9.3.2.6. Readout Command
l If a command for reading the internal state (i.e., parameter set values, current position, etc.) of the
Driver Unit among the communication commands of this system is entered, the Driver Unit returns
data, etc.
l Returned data consists of “space code (20H) + read out value, data + carriage return (0D H) + line
feed code (0A H)”.
◊ For example,
1 TS command for reading set value
Figure 9-41: TS command example
:TS2
FP0
FS0
NP0
:_
Entered command
Returned set frequency of the primary low-pass filter
Returned set frequency of the secondary low-pass filter
Returned set frequency of the 1st stage notch filter
Waiting for a command to be entered
Input (To Driver Unit)
T
S
2
0DH
Readout (From Driver Unit)
T
S
2
0DH
0AH
(a)
(a)
F
P
0
0DH
0AH
(b)
(b)
F
S
0
0DH
0AH
(c)
(c)
N
P
0
0DH
0AH
(d)
(d)
:
Caution : Input of [20H] requires for every echo back when the parameter of MM is 1.
— 9-37 —
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2 If set value reading function ? is used
Figure 9-42: “?” function example
:?VG
VG0.5
:_
Entered command
Returned velocity loop proportional gain
Waiting for a command to be entered
Input (To Driver Unit)
?
V
G
0DH
Readout (From Driver Unit)
(a)
?
V
G
0DH
0AH
V
G
0
.
5
(a)
0DH
0AH
:
3 TP command for reading current position data
Figure 9-43: TP command example
:TP5
10000
:_
Entered command
Returned current position coordinate
Waiting for a command to be entered
Input (To Driver Unit)
T
P
5
0DH
Readout (From Driver Unit)
(a)
T
P
5
0DH
0AH
1
0
0
0
0
(a)
0DH
0AH
:
— 9-38 —
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9.3.3. Communication with Personal Computer
l This section describes how to store the parameters of Driver Unit using HyperTerminal of
communication software which is provided with Windows 95 as standard.
l The user shall provide the communication cable. Pin-out of the D-sub 9pins connector of ESA
Driver Unit is different from DOS/V machine. Refer to “5.1. CN1: RS-232C Serial Communication
Connector” and the manual of the personal computer.
9.3.3.1. Set-up of HyperTerminal
1)
Start HyperTerminal.
[ (Start menu) → (Program) → (Accessory) → (HyperTerminal) ]
2)
Dialog of “Setting of connection” is displayed.
Declare the name of connection and set an icon, then press [OK] button.
3)
Dialog of “Telephone-number” is displayed.
Select “Direct to Com#” in “the way of connection N,” then press [OK] button.
4)
Dialog box of “Property of Com#” is displayed.
Follow the table bellow for input, then press [OK] button.
Table 9-14
Bit/sec.
Data bit (D)
Parity (P)
Stop bit (S)
Flow control (F)
9 600
8
None
2
Hardware
5)
Select the menu “File (F)” → “Property (P).”
Dialog of “Property of xxxx” is shown in the display.
[xxxx is the name of connection declared in the procedure 1).]
6)
End of HyperTerminal.
The dialog box stating “Do you store the session xxxx ?” is displayed.
Press [Yes (Y)] button and store the session. Use the session to communicate with ESA
Driver Unit afterwards.
— 9-39 —
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9.3.3.2. Store Parameters of ESA Driver Unit
1)
Start HyperTerminal.
2)
Set MM data to MM0 for continuous report mode.
3)
Execute TS command and TC/AL to indicate the setting.
:MM0
:TS
PG0.100
VG2.0
VI5.00
(Omitted partially.)
RI0.020
ZP1.00
ZV1.4
:TC/AL
PH0
>TC0
AD0
CV2.0000
CA5.00
(Omitted partially.)
>TC15
:
4)
Copy the setting shown above to “Memopad,” then store it as a text file.
Edit and store the setting as described hereunder to be able to transfer it to ESA Driver Unit.
u Add “KP1” to the top line.
u Delete unnecessary character strings such as “:TS” and “:TC/AL.”
u Delete all spaces of the head of the lines.
u Change “>TC” to “CH.”
u Add a line to each end of a channel program and the end of setting.
KP1
PG0.100
VG2.0
VI5.00
(Omitted partially.)
ZP1.00
ZV1.4
PH0
CH0
AD0
CV2.0000
CA5.00
CH1
AR3000
(Omitted partially.)
Add a line.
CH15
9.3.3.3. Transmit Stored Parameters to ESA Driver Unit
n Transmit the stored file to ESA Driver Unit.
1)
Start HyperTerminal.
2)
Transmit the file by selecting “Transfer” → “Transmit text/file.”
3)
Execute TS or TC/AL command to confirm that the transmission of data is successful.
— 9-40 —
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9.3.4. Daisy Chain Communication
l Daisy chain communication allows multiple Driver Units (up to 16 units) to be connected with a
single RS-232C terminal.
Figure 9-44: Daisy chain communication overview
Terminal
RS-232C Cable
Driver Unit
Driver Unit
Driver Unit
#0
#1
#2
~
Driver Unit
#15
9.3.4.1. Procedure to Set Daisy Chain Communication
Figure 9-45: Setting procedure for daisy chain communication.
Operation procedure
Power on
Initial setting
← AN parameter
CM parameter
Power off
Daisy-chain
connection
Power on again
Recheck
NG
• Order of connection
• Initial setting
• Cable state
Connection
state check
← AS command
(executed automatically)
OK
Daisy-chain
communication start
— 9-41 —
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9.3.4.2. Initial Setting
l The password is necessary for inputting initial setting parameters.
l The initial setting values become valid when the power is turned on next time.
l Perform initial setting before making daisy chain connection.
Table 9-15: Initial setting
Item
Daisy-chain
communication, axis
number setting
Daisy-chain
communication mode
selection
RS2-32C
parameter
Data
range
Shipping
set
AN data
0~15
0
The set data becomes the axis number of
daisy chain communication.
CM data
0, 1
0
CM0: standard (single driver)
communication
CM1: daisy-chain communication
Function
9.3.4.3. Interfacing
1 Connecting data communication lines
l Connect data communication lines sequentially: First connect the output of the terminal with the
input of axis 0, then connect the output of axis 0 with the input of axis 1 and then one after the other.
(See Figure 9-46.)
l Connect the output of the final axis with the input of the terminal.
Figure 9-46: Data line connection
Terminal
TXD
RXD
RXD
TXD
RXD
TXD
RXD
TXD
~
RXD
TXD
Driver Unit
Driver Unit
Driver Unit
Driver Unit
#0
#1
#2
#15
— 9-42 —
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2 Connecting data transmission request lines
l Connect data transmission request lines sequentially: First connect the input of the terminal with the
output of axis 0, then connect the input of axis 0 with the output of axis 1 and then one after the other.
(See Figure 9-47.)
l Connect the input of the final axis with the output of the terminal.
Figure 9-47: Request-to-send Line Connection
Terminal
CTS
RTS
RTS
CTS
RTS
CTS
RTS
CTS
~
RTS
CTS
Driver Unit
Driver Unit
Driver Unit
Driver Unit
#0
#1
#2
#15
Actual connection example
l When NSK’s Handy Terminal is in use, connect the lines as shown in Figure 9-48.
l Refer to “5.1. CN1 : RS-232C Serial Communication Connector” for the specification of CN1.
Handy Terminal
Figure 9-48: Handy Terminal Connection Example
8
1
3
7
2
5
4
6
+5V
RXD
TXD
CTS
RTS
DSR
DTR
GND
+5V
RXD
TXD
CTS
RTS
DSR
DTR
GND
RXD
TXD
CTS
RTS
DSR
DTR
GND
RXD
TXD
CTS
RTS
DSR
DTR
GND
Connector pin No.
Driver Unit
#0
Driver Unit
#1
Driver Unit
#2
*: The communication signal name on the Handy Terminal is opposite to that on the Driver
Unit (e.g. RXD-TXD).
— 9-43 —
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9.3.4.4. Power on
Caution : • If the Handy Terminal is not used, turn on power in the order of the RS-232C
terminal and Driver Units.
• Turn on the power for all Driver Units simultaneously. (If all axes cannot be
turned on at once, be sure to design the system so that the power of the
Driver Unit axis No. 0 turns on at the end.)
l When the Driver Unit of axis No.0 is turned on, an AS command is executed to check for
connection.
l If all the terminal and units are connected properly, the following message is displayed (the
following examples show a 3-axis configuration)
Figure 9-49
NSK MEGATORQUE
MS1A50_XXXX
EXXXXXXXXXX
BM1
AS
0
OK AX0
1
OK AX1
#2
OK AX2
:_
Displays the connection state.
Waiting for a command to be entered.
l If connection is improper, the following message may be displayed.
l The following message example shows a case where axis No.1 and axis No.2 are swiched in
connection.
Figure 9-50
NSK MEGATORQUE
MS1A50_XXXX
EXXXXXXXXXX
BM1
AS
0
OK AX0
1 ERR. AX2
#2 ERR. AX1
:_
Displays the connection state.
Waiting for a command to be entered.
l If the proper message is not displayed, check for connection order, initial settings (AN parameter,
CM parameter) and cable connection.
— 9-44 —
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9.3.4.5. Operation
u Selection of Driver Unit to be communicated
l In daisy chain mode, the RS-232C terminal is capable of communication through one Driver Unit.
l Use an AX command to select one of the Driver Units connected for daisy chain communication.
Caution : Do not select any unit that is not connected. Otherwise, operation may hang
up. To return to the normal state, press the BS key, then select the number
of a connected Driver Unit.
Figure 9-51
:AX2
ACC. AX2
:_
Select a new axis for communication (axis No. 2).
Acknowledgment message
l An axis selected for communication may be checked by issuing a ?AX command. The axis is
displayed in the same manner as it is selected.
Figure 9-52
:?AX
ACC. AX2
:_
Current axis for communication
u Example of Daisy-chain communication
Figure 9-53: Example of Daisy chain communication
Select axis 1
NO
Check
acknowledgment
message.
← AX1 command
Acknowledgment message
ACC, AX1
YES
Set axis 1 parameter.
Select axis 3
NO
Check
acknowledgment
message.
Example:
IR100 (move by 100 pulses)
← AX3 command
Acknowledgment message
ACC, AX3
YES
Set axis 3 parameter.
Select axis 2
Example:
IR300 (move by 300 pulses)
← AX2 command
— 9-45 —
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(Blank Page)
— 9-46 —
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10. Operation
10.1. Preparation
10.1.1. Wiring Check
Caution : After completion of all wiring of ESA25 Driver Unit, check followings before
operation.
Table 10-1
Check item
1
Connection of Main power
and Input/Output cables
2
Cable Set
3
Handy Terminal
Confirmation
All wiring is properly arranged and completed.
Terminal block screws are securely fastened.
All connectors are connected and locked properly.
Cable Set (Motor and Resolver cables) is connected and locked
properly.
• Handy Terminal (FHT11) is connected and locked to CN1 connector.
•
•
•
•
10.1.2. Procedure for Positioning Operation
Figure 10-1
1
Turn Power ON
2
Tuning
• Check power voltage (Main and Control power).
• After the power is turned on, make sure that the LED
(green) and the 7 segments LED on the front panel
of the Driver Unit are indicating normal state.
• Confirm the Handy Terminal display is showing
completion of the Driver Unit initialzation.
• Refer to “8. Tuning and Trial Running” and tune the
Megatorque Motor system.
(Refer to “10.2. Position Control Mode Operation.”)
Position control mode operation
Home Return
(Refer to “10.2.1. Home Return.”)
Programming indexer
(Refer to “10.2.2. Programmable Indexer.”)
Pulse Train Command Operation
(Refer to “10.2.3. Pulse Train Command Operation.”)
RS-232C position command
(Refer to “10.2.4. RS-232C Position Commands.”)
Jog
(Refer to “10.2.5. Jog.”)
Analog velocity control mode operation
(Refer to “10.3. Velocity Control Mode Operation.”)
Analog torque control mode operation
(Refer to “10.4. Torque Control Mode Operation.”)
— 10-1 —
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10.2. Position Control Mode Operation
l Select a position control mode with the parameter SL.
SL1 : Analog torque control mode
SL2 : Analog velocity control mode
SL3 : Position control mode
l Following operations are available in the position control mode.
◊ Home Return operation
◊ Programmable indexer
◊ Pulse train command operation
◊ RS-232C position command
◊ Jog
10.2.1. Home Return
l Be sure to perform Home Return at all times except when user's controller is governing control.
The Home position (Zero position) cannot be determined unless Home Return is performed.
l The position coordinates and positions of software overtravel limit switch are set to the position
scale determined by Home Return.
l The Home position (Zero position ) of the position scale is set to the point at where Home Return
completes.
Caution : Position data disappears after the power is turned off, so perform Home
Return each time you turn on the Driver Unit power.
— 10-2 —
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Figure 10-2 : Home Return sequence
30ms min.
SVON input
Start
RS-232C
communication
command
ON
OFF
* CR stands for the carriage
return code (0DH)
*
H
S
CR
10ms min.
HOS input
or RUN input to
start HS command
in a channel.
HLS input
ON
OFF
ON
OFF
HA
H
HV
CCW direction
Motor rotation
1
2
HZ
CW direction
4
3
When
HO ≠0
øZ
IPOS output (FW ≠0)
Close
Open
FW value
IPOS output (FW=0)
Close
Open
l Make the Motor Servo-on. (SVON input on)
l Turning the HOS input ON will start Home Return. ( 1 )
l The Motor turns in CCW*. When it enters HLS (Home position proximity) area ( 2 ), it decelerates
and stops momentarily, then reverses its rotational direction. ( 3 ) The Motor goes out HLS range
once, then reverses again and enters HLS area at the Home position search velocity. ( 4 ) It moves
to the first point where the resolver value becomes 0 (= rising edge of the øZ) and completes Home
Return.
* The direction of rotation can be changed with the parameter HD (Home Return direction).
HD0 : CW
HD1 : CCW (Shipping set)
l If the Home offset value HO is set, the Motor moves farther past the resolver 0 point by the offset
value, then completes Home Return operation.
l Home Return can be also executed with the following ways.
◊ Select the channel where HS command is set and input RUN command.
◊ Execute HS command through RS-232C communication.
— 10-3 —
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l Home Return motion differs as shown in Figure 10-3 according to the starting point of Home
Return.
Figure 10-3
Home return starting point
Origin
OTM input* active
HLS input active
(CCW-direction overtravel area) (home limit switch area)
CCW
direction*
OTP input* active
(CW-direction overtravel area)
CCW-direction*
velocity
CW
direction*
CW-direction*
velocity
The DRDY output is open
during this operation.
The DRDY output remains
closed during this operation.
The DRDY output is open
during this operation.
øZ
* : When Home Return direction is reversed by the HD parameter, CW and CCW as well as
OTP and OTM are reversed as follows: CW → CCW, OTP → OTM.
— 10-4 —
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10.2.1.1. Home Return Parameter List
Table 10-2 : Motor series : YS, JS1, JS2 and RS
Parameter function
Home Return Acceleration
Home Return Velocity
Home Position Offset
Home Return Direction
Home Return Near-Zero Velocity
RS-232C
Parameter
HA
HV
HO
HD
HZ
Unit
Data input range
Shipping set
s -2
s -1
pulse
–
s -1
0.01~80.00
0.0001~3.0000
0~610 304
0: CW, 1: CCW
0.0001~0.20
1.00
0.2
0
1
0.0100
Unit
Data input range
Shipping set
s
s -1
pulse
–
s -1
0.01~100.00
0.0001~3.7500
0~487 424
0: CW, 1: CCW
0.0001~0.25
1.00
0.2
0
1
0.0100
Unit
Data input range
Shipping set
s -2
s -1
pulse
–
s -1
0.01~120.00
0.0001~4.5000
0~405 504
0: CW, 1: CCW
0.0001~0.30
1.00
0.2
0
1
0.0100
Table 10-3 : Motor series : SS
Parameter function
Home Return Acceleration
Home Return Velocity
Home Position Offset
Home Return Direction
Home Return Near-Zero Velocity
RS-232C
Parameter
HA
HV
HO
HD
HZ
-2
Table 10-4 : Motor series : AS, BS and JS0
Parameter function
Home Return Acceleration
Home Return Velocity
Home Position Offset
Home Return Direction
Home Return Near-Zero Velocity
RS-232C
Parameter
HA
HV
HO
HD
HZ
10.2.1.2. Adjusting Home Position Switch and Home Offset Value
l The position of the Home position sensor (a dog or a sensor) must be adjusted properly to perform
Home Return accurately.
l The Home position is determined at the point where the resolver value becomes zero after detection
of HLS input rising edge when motor is running under Home Return near-zero velocity. (The home
position is set to the point that is off-set by HO, if the Parameter HO value is not set to 0 (zero).)
l The resolver has many teeth for detecting its position and the rising edge of HLS is to identify a
tooth out of these teeth. To make precise detection of øZ, the Home limit switch position must be
adjusted so that the HLS input goes high when the switch is at the middle center of the tooth width.
Design the Home limit switch so that it can be adjusted ±1.2° or more in relation to the tooth width.
l Take the following steps to adjust the position of the Home limit switch.
— 10-5 —
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<Operation> Adjusting the Home limit switch position
1)
Loosely mount the HLS sensor (Home limit switch) slightly preceding a point to be the Home
position.
2)
Check the wiring of the HLS sensor. Execute the IO command and check if the ESA25 Driver Unit
is reading the HLS input correctly.
3)
Adjust the position of the Home position sensor. First, make the Motor servo-on, then execute the
HS/LS command. At this time, be careful that the Motor starts Home Return operation and thereby
rotates. By using Handy Terminal, take the following steps:
(1)
H
(2)
S
/
L
S
:HS/LS_
Press the ENT key to start Motor rotation.
:HS/LS
TR2003
OK
:_
ENT
The Motor stops as soon as the HLS sensor goes ON. The Handy Terminal displays the
TR value (i.e., number of pulses from the closest øZ rising edge) of the Motor’s present
position.
Check that this value is in the range of 1000 to 3000
If the TR value is not in this range, loosen the HLS sensor and move it CW or CCW
direction. Repeat steps (1) and (2) until the TR value is within the above range.
Caution : When installing the HLS sensor, be sure to adjust its position as mentioned
above. Otherwise, positioning may not be performed correctly.
l Above procedures complete adjustment of Home limit sensor. Follow the procedures hereunder to
adjust offset value of Home position.
(3) Input the MO command (servo-off command).
M
(4)
:HS/LS
TR2003
OK
:MO_
O
Press the ENT key to execute the command and thereby turn off the Motor servo.
TR2003
OK
:MO
:_
At this time, the Motor can be turned easily by hand. Turn the Motor to the desired
position. Do not give the Motor more than one turn.
— 10-6 —
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(5)
Input the password.
/
N
O
N
S
K
SP
TR2003
OK
:MO
:/NSK ON_
(6)
:MO
:/NSK ON
NSK ON
:_
A command can be
ENT
entered only on this line
(7)
The rotational position sensor calculates and writes the offset value of Home Return HO
automatically when HO/ST command is executed.
H
(8)
O
/
S
T
:MO
:/NSK ON
NSK ON
:HO/ST_
Press the ENT key to execute the command.
When the “:_” colon appears on the display, Home offset HO value is automatically
calculated and set.
NSK ON
:HO/ST
HO1234
:_
ENT
(9) Input the SV command (servo-on command.)
S
NSK ON
:HO/ST
HO1234
:SV_
V
(10) Press the ENT key to execute the command and thereby turn on the Motor servo.
:HO/ST
HO1234
:SV
:_
ENT
The “:_” colon appears when the Driver Unit is ready to accept another input.
— 10-7 —
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(11) Input the HS command (Home Return start command).
H
:HO/ST
HO1234
:SV
:HS_
S
(12) Press the ENT key to execute the command and thereby start Home Return operation.
HO1234
:SV
:HS
:_
ENT
Check that the Motor stops at the desired Home position.
— 10-8 —
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10.2.1.3. Programming Home Return Operation (example)
1 Programming Home return command in channel 0 (CH0)
l Program the Home return command in a Programmable Indexer channel. Then, start the operation
by activating the channel (i.e., RUN input ON).
1)
Input the CH0 channel select command.
C
H
0?
ENT
:
:CH0
?_
The “?” prompt appears to wait for data input. If data is already programmed in CH0, the
registered data appears on the display.
2)
Enter the Home return start command.
H
3)
S
:
:CH0
?HS
?_
ENT
When the “?” prompt appears again, press the ENT key.
:CH0
?HS
?
:_
ENT
This completes the programming in CH0.
2 Home return trial operation
l Set Home return acceleration HA, Home return velocity HV and Home return offset HO.
l Then take the following steps to perform the trial operation.
1)
Make the Motor servo-on.
2)
Following the prompt (“:”), input the execution command of internal programmable
indexer channel.
S
P
0?
ENT
:
:SP0
:_
The Motor starts Home return operation.
— 10-9 —
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10.2.2. Programmable Indexer
l Positioning command can be stored to the channel of the Driver Unit. Programmable Indexer is to
execute the stored positioning program by selecting the channel via PRG0 ~ PRG5 input and RUN
command.
l Set the system to servo-on. (SVON input ON)
l Select the channel. (Input PRG0 ~ PRG5, CN5 signal)
l By inputting RUN command ON, the Motor executes stored positioning program while IPOS
output is closed. (When FW=0)
l While the Motor is performing the positioning operation, the RUN input is ignored.
l Input the command “SP” to execute the Programmable Indexer. (Same function as inputting RUN
command ON.)
Type
S
P
m
ENT
to execute the channel “m” program. (m : channel number)
Figure 10-4 : Programmable indexer command timing
Servo-on
ON
OFF
30ms min.
Channel select
10ms min.
RUN input
ON
OFF
CW- or CCWdirection speed
10ms min.
The Motor starts indexing upon
detecting the rising edge of the
RUN input.
Motor rotation
IPOS output
(FW ≠0)
IPOS output
(FW=0)
invalid
MV or CV
MA or CA
Close
Open
FW value
RUN input is invalid.
Close
Open
RUN input is invalid.
l When an empty channel is selected, the program error alarm will be ON.
(Refer to “14. Alarm.”)
— 10-10 —
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10.2.2.1. Programmable Indexer Channel Switching
l The channel to be executed is selected by combining the on and off of the PRG0 to PRG5 input of
I/O connector CN5.
Table 10-5
Channel input
Channel 0
Channel 1
Channel 2
•
•
•
Channel 61
Channel 62
Channel 63
PRG 5
OFF
OFF
OFF
•
•
•
ON
ON
ON
PRG 4
OFF
OFF
OFF
•
•
•
ON
ON
ON
PRG 3
OFF
OFF
OFF
•
•
•
ON
ON
ON
PRG 2
OFF
OFF
OFF
•
•
•
ON
ON
ON
PRG 1
OFF
OFF
ON
•
•
•
OFF
ON
ON
PRG 0
OFF
ON
OFF
•
•
•
ON
OFF
ON
— 10-11 —
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10.2.3. Pulse Train Command Operation
10.2.3.1. Pulse Train Signal Format
l Input a pulse train from CWP and CCWP of CN2 control I/O signal connector.
l Set the pulse train input signal format with the PC parameter (via the RS-232C communication).
(The password must be input prior to the PC parameter setting.)
Table 10-6 : Signal format
PC
Parameter
PC0
(shipping set)
PC1
CWP input
CCWP input
Function
• Input CW pulse.
• Input CCW pulse.
CW & CCW format
• Input the direction.
ON : CCW
OFF : CW
• Input pulse train.
Pulse & direction format
øA/øB format (× 1)
øA
PC2
øB
Internal
pulse
resolution
øA/øB format (× 2)
øA
PC3
• Input øB.
• Input øA.
øB
Internal
pulse
resolution
øA/øB format (× 4)
øA
PC4
øB
Internal
pulse
resolution
— 10-12 —
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10.2.3.2. Pulse Train Resolution
l Set the resolution of the pulse train with the CR parameter (via RS-232C).
l In the case of øA/øB input, the pulse train resolution is multiplied by the PC parameter value, then
by the CR parameter value.
l Refer to Table 10-7 for the concrete data of resolution.
Figure 10-5 : Pulse train resolution setting
øA/øB input
PC parameter
CR parameter
PC2: × 1
PC3: × 2
PC4: × 4
CR × 1
CR × 2
CR × 4
CR360 000
CR36 000
CR3 600
CWP & CCWP input
Pulse & direction input
1 YS, JS1, JS2 and RS Motor series
Table 10-7 : Pulse train resolution (YS, JS1, JS2 and RS Motor series)
CR
Parameter
CR × 1
(Shipping set)
Resolver resolution
12-bit or automatic
resolution switching
10bit
12-bit or automatic
resolution switching
CR × 2
10bit
12-bit or automatic
resolution switching
CR × 4
10bit
CR360 000
12-bit/10-bit automatic
resolution switching
CR36 000
12-bit/10-bit automatic
resolution switching
CR3 600
12-bit/10-bit automatic
resolution switching
Resolution (pulses/360°) = number of pulses necessary for
giving the Motor one turn
CW & CCW format, Step & Direction format øA/øB format
× 1 614 400
614 400
× 2 307 200
× 4 153 600
× 1 153 600
153 600
× 2 76 800
× 4 38 400
× 1 307 200
307 200
× 2 153 600
× 4 76 800
× 1 76 800
76 800
× 2 38 400
× 4 19 200
× 1 153 600
153 600
× 2 76 800
× 4 38 400
× 1 38 400
38 400
× 2 19 200
×4
9 600
× 1 360 000
360 000
× 2 180 000
× 4 90 000
× 1 36 000
36 000
× 2 18 000
×4
9 000
×1
3 600
3 600
×2
1 800
×4
900
— 10-13 —
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2 SS Motor series
Table 10-8 : Pulse train resolution (SS Motor series)
CR
Parameter
CR × 1
(Shipping set)
Resolver resolution
12-bit or automatic
resolution switching
10bit
12-bit or automatic
resolution switching
CR × 2
10bit
12-bit or automatic
resolution switching
CR × 4
10bit
CR360 000
12-bit/10-bit automatic
resolution switching
CR36 000
12-bit/10-bit automatic
resolution switching
CR3 600
12-bit/10-bit automatic
resolution switching
Resolution (pulses/360°) = number of pulses necessary for
giving the Motor one turn
CW & CCW format, Step & Direction format øA/øB format
× 1 491 520
491 520
× 2 245 760
× 4 122 880
× 1 122 880
122 880
×2
61 440
×4
30 720
× 1 245 760
245 760
× 2 122 880
×4
61 440
×1
61 440
61 440
×2
30 720
×4
15 360
× 1 122 880
122 880
×2
61 440
×4
30 720
×1
30 720
30 720
×2
15 360
×4
7 680
× 1 360 000
360 000
× 2 180 000
×4
90 000
×1
36 000
36 000
×2
18 000
×4
9 000
×1
3 600
3 600
×2
1 800
×4
900
— 10-14 —
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3 AS, BS and JS0 Motor series
Table 10-9 : Pulse train resolution (AS, BS and JS0)
CR
Parameter
CR × 1
(Shipping set)
Resolver resolution
12-bit automatic
resolution switching
10bit
12-bit or automatic
resolution switching
CR × 2
10bit
12-bit or automatic
resolution switching
CR × 4
10bit
CR360 000
12-bit/10-bit automatic
resolution switching
CR36 000
12-bit/10-bit automatic
resolution switching
CR3 600
12-bit/10-bit automatic
resolution switching
Resolution (pulses/360°) = number of pulses necessary for
giving the Motor one turn
CW & CCW format, Step & Direction format øA/øB format
× 1 409 600
409 600
× 2 204 800
× 4 102 400
× 1 102 400
102 400
×2
51 200
×4
25 600
× 1 204 800
204 800
× 2 102 400
×4
51 200
× 1 51 200
51 200
× 2 25 600
× 4 12 800
× 1 102 400
102 400
× 2 51 200
× 4 25 600
× 1 25 600
25 600
× 2 12 800
×4
6 400
× 1 360 000
360 000
× 2 180 000
× 4 90 000
× 1 36 000
36 000
× 2 18 000
×4
9 000
×1
3 600
3 600
×2
1 800
×4
900
Note : • In the øA/øB format, one cycle of either øA or øB is defined as “one pulse”.
Figure 10-6
øA
øB
1 pulse
• The resolver resolution is set by the RR parameter (via RS-232C).
— 10-15 —
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10.2.3.3. Input Timing
Caution : The following specifies the conditions of pulse acceptance timing. Besides
these conditions, the Motor operation is restricted by the maximum velocity.
Do not input pulses which exceed the Motor’s maximum velocity.
1 When PC is set to “0” (PC0)
Figure 10-7
CW Rotation
CCW Rotation
Min. 600ns
CWP input: CW pulses
ON
OFF
Min. 600ns
CCWP input: CCW pulses
Min. 1µs
ON
OFF
2 When PC is set to 1 (PC1)
Figure 10-8
CW Rotation
CWP input: Direction
ON
OFF
CCW Rotation
Min. 500ns
Min. 500ns
CCWP input: Step
Min. 600ns
Min. 500ns
ON
OFF
Min. 600ns
3 When PC is set to 2~4 (PC2 ~ PC4)
Figure 10-9
CW Rotation
CWP input: øA
ON
OFF
Min. 1µs
Min. 1µs
Min. 2µs
CCWP input: øB
ON
OFF
CCW Rotation
Min. 2µs
Min. 5µs
— 10-16 —
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10.2.4. RS-232C Position Commands
l You can execute indexing using RS-232C commands. The commands/parameters are shown
below. Refer to “12. Commands and Parameter” for more details.
Table 10-10
Command/
parameter
ID command
IR command
AD command
AR command
HS command
HV parameter
HA parameter
HO parameter
HD parameter
MA parameter
MV parameter
Function
Sets the target and executes rotation (incremental/in the units of degree)
Sets the target and executes rotation (incremental/in the units of pulse)*
Sets the target and executes rotation (absolute/in the units of degree)
Sets the target and executes rotation (absolute/in the units of pulse)*
Starts Home Return.
Sets Home Return velocity.
Sets Home Return acceleration.
Sets the home offset value.
Specifies Home Return direction.
Sets the acceleration, for indexing.
Sets the velocity, for indexing.
* : The table below lists the number of pulses per rotation of the IR command.
Table 10-11 : Motor type and resolution
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Resolution
614 400
491 520
409 600
u Indexing Timing
Figure 10-10 : Indexing timing
RS-232C input
CR
*
Positioning command
IPOS output
(FW = 0)
Close
Open
MA
MV
Motor rotation
* : CR stands for the carriage return code (0D H).
l Under SVON state, as soon as the command is input, the Motor starts indexing. The acceleration
and velocity follow the settings of parameters “MA” and “MV”.
l If the position error counter value is within the in-position limit (set by IN parameter) after indexing,
the IPOS output should be closed.
— 10-17 —
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10.2.5. Jog Operation
l Set system to servo-on. (SVON input ON)
l Turning on the Jog input makes the Motor to accelerate and rotate. The Motor keeps rotating while
the Jog input remains on. When the Jog input is off, the Motor starts decelerating, then stops.
l When the DIR input is off, the Motor turns to CW. When the DIR input is on, it turns to CCW.
l Jog operation parameter
JA : Jog acceleration
JV : Jog velocity
Figure 10-11 : Jog operation timing
Jog input
ON
OFF
DIR input
ON
OFF
IPOS output
(FW=0)
IPOS output
(FW ≠0)
Close
Open
Close
Open
CW- direction
velocity
JA
JV
JA
Motor rotation
JA
CCW- direction
velocity
JV
Caution : When the DIR input is switched during Motor rotation as shown in the above
chart, the Motor decelerates, then reverses the direction of rotation.
— 10-18 —
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10.3. Velocity Control Mode Operation
l Velocity control mode can be set with the SL parameter.
SL1 : Torque control mode
SL2 : Velocity control mode
SL3 : Position control mode
l Velocity control mode is available in the analog command input or RS-232C command input.
l The mode is switched by the parameter AC.
AC0 : Analog command input invalid. DC command becomes valid.
AC1 : Analog command input valid.
When input voltage polarity is + (positive) : CCW direction
AC-1 :
Analog command input valid
When input voltage polarity is - (negative) : CW direction
— 10-19 —
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10.3.1. RS-232C Communication Command
l In the velocity control mode, the operation of the Motor can be executed through RS-232C
communication command.
l Setting the parameter AC (AC0) makes the DC command valid.
Then input
D
C
(data)
ENT
to control the Motor under the proportional speed to the command data value.
l The relation between the command DC data and velocity is shown in Figure 10-12.
Figure 10-12
♦ When the resolver resolution is
12 bit.
♦ When the resolver resolution is
10 bit or automatic switching.
CW maximum
velocity
CW maximum
velocity
-4095
-4095
-1365
+1365 +4095
+4095
CCW maximum
velocity
CCW maximum
velocity
Caution : When the polarity of the position scale is reversed by setting DI parameter,
the polarity of DC command is also reversed.
[s -1 ]
Table 10-12
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Maximum velocity
Resolver resolution: 10 bit
Resolver resolution: 12 bit
or automatic switching
1
3
1.25
3.75
1.5
4.5
— 10-20 —
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10.3.2. Analog Velocity Command
l In the velocity control mode operation, the Motor may be controlled directly by inputting analog
command.
◊ Voltage range of analog command is ±10V. The offset adjustment may be performed
with VR1 pod on the front panel of a Driver Unit.
◊ Setting the parameter AC reverses the polarity of analog command voltage.
AC1 : Analog voltage + : CCW
AC -1 : Analog voltage + : CW
◊ The parameter AGV changes the relation between analog voltage and velocity.
Table 10-13
DI data
AC data
0
0
0
0
1
1
1
1
1
1
-1
-1
1
1
-1
-1
Command
voltage
+
+
+
+
-
Rotational
direction
CCW
CW
CW
CCW
CW
CCW
CCW
CW
Figure 10-13: Command voltage and velocity
♦ Resolver resolution: 12 bit
♦ Resolver resolution: 10bit or
automatic switching
CW Maximum
velocity
CW Maximum
velocity
12 bit maximum
velocity
+10V
-10V
-10V
+10V
12 bit maximum
velocity
CCW Maximum
velocity
CCW Maximum
velocity
AGV = 0.5
AGV = 1.0
AGV = 2.0
[s -1 ]
Table 10-14
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Maximum velocity
Resolver resolution: 10 bit
Resolver resolution: 12 bit
or automatic switching
1
3
1.25
3.75
1.5
4.5
— 10-21 —
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l The parameter DBA sets the dead band for analog command input.
One unit of data sets ±4.9mV dead band.
Figure 10-14 : Example DBA100 (AC1)
CW maximum
velocity
+490mV +10V
-10V -490mV
CCW maximum
velocity
— 10-22 —
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10.4. Torque Control Mode Operation
l Torque control mode can be set with the SL parameter.
SL1 : Torque control mode
SL2 : Velocity control mode
SL3 : Position control mode
l Torque control mode is available in the analog command input or RS-232C command input.
l The mode is switched by the parameter AC.
AC0 : Analog command input invalid. DC command becomes valid.
AC1 : Analog command input valid.
When input voltage polarity is + (positive) : CCW direction
AC-1 :
Analog command input valid
When input voltage polarity is - (negative) : CW direction
10.4.1. RS-232C Communication Command
l In the torque control mode, the operation of the Motor can be executed through RS-232C
communication command.
l Setting the parameter AC (AC0) makes the DC command valid.
Then input
D
C
(data)
ENT
to control the Motor under the proportional speed to the command data value.
l The relation between the command DC data and torque is shown in Figure 10-15.
Figure 10-15
CW maximum
torque
-4095
+4095
CCW maximum
torque
l Torque output varies with the Motor type.
— 10-23 —
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10.4.2. Analog Torque Command
l In the torque control mode operation, the Motor may be controlled directly by inputting analog
command.
◊ Voltage range of analog command is ±10V. The offset adjustment may be performed
with VR1 pod on the front panel of a Driver Unit.
◊ Setting the parameter AC reverses the polarity of analog command voltage.
AC1 : Analog voltage + : CCW
AC -1: Analog voltage + : CW
◊ The parameter AGT changes the relation between analog voltage and torque.
Table 10-15
DI data
AC data
0
0
0
0
1
1
1
1
1
1
-1
-1
1
1
-1
-1
Command
voltage
+
+
+
+
-
Rotational
direction
CCW
CW
CW
CCW
CW
CCW
CCW
CW
Figure 10-16
♦ AC1: CCW when polarity is
positive (+)
CW maximum
torque
+10V
♦ AC-1: CCW when polarity is
negative (-)
CW maximum
torque
-10V
-10V
+10V
CCW maximum
torque
CCW maximum
torque
AGV = 0.5
AGV = 1
AGV = 2
— 10-24 —
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l The parameter DBA sets the dead band for analog command input.
One unit of data sets ±4.9mV dead band.
Figure 10-17 : Example of DBA100 (AC1)
CW maximum
torque
+490mV +10V
-10V -490mV
CCW maximum
torque
— 10-25 —
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— 10-26 —
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11. Programming
l The Driver Unit can store indexing profiles in its memory. To index along the stored indexing motion
profile, external input (CN5 connector signal) is used. This function is called “Programmable
Indexer”.
l The program of an indexing motion profile can be done via RS-232C communication. (Handy
Terminal FHT11 or a personal computer.) The programming can be input only when the Motor is
not indexing.
l The program area is shown in Figure 11-1. There are 64 channels ranging from channel 0 to 63.
Figure 11-1: Program area
Channel 0
Channel 1
•
•
•
•
Channel 63
CH0
CH1
•
•
•
•
CH63
— 11-1 —
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11.1. Commands and Parameters
u Home Return
Command
Condition setting
: HS
: None
l Program Home Return operation.
l Command format : HS seq
seq : sequence code (*, &) Refer to “Sequence Code” in the next page.
l The Motor rotates according to the values set by Home Return velocity HV, Home Return
acceleration HA, Home Return near-zero velocity HZ, and to the direction set by Home Return
direction HD.
Caution : Direction of Home Return may be reversed using HD parameter.
◊ HD0 : CW direction
◊ HD1 : CCW detection (Shipping set)
*Program example
:CH0
HS
u Positioning
Command
Condition setting
: AD, AR, ID, IR
: CV, CA (Can be omitted.)
l Program the Indexing motion profile.
Table 11-1
Command format
AD d1 d3 seq
AR d1 d3 seq
ID d1 d2 seq
IR d1 d2 seq
Outline
• Absolute indexing, in the unit of degree.
• The Motor turns to reach the d1 [× 0.01°]
position of position scale.
• Absolute indexing in the unit of pulse.
• The Motor turns to reach the d1 [pulse]
position of position scale.
• Incremental indexing, in the unit of degree.
• The Motor makes a d1 [× 0.01°] turn from
the present position.
• Incremental indexing in the unit of pulse
• The Motor makes a d1 [pulse] turn from the
present position.
Option
Option code d3
/PL: CW direction
/MI: CCW direction
• When d3 is omitted, the Motor turns in the shortestdistance direction to reach the d1 position.
Option code d2
/n: (n <= 99)
• When d2 is specified, the d1 value is equally divided by
n. Single RUN input will make motor rotate by the
divided amount.
• When d2 is omitted, the d1 value will not be divided.
— 11-2 —
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l seq stands for the sequence code (*, &), which sets the execution condition of the next channel in
the sequence.
l Velocity CV and acceleration CA can be set in the same channel. When CV and CA are omitted,
the Motor operates according to the values set by MV and MA respectively.
*Program example
:CH0
ID9000/2
CV1.5
CA5
Figure 11-2
RUN input
Program operation
CH0
ID9000/2
45°
u Jump
Command
Condition setting
CH0
ID9000/2
45°
: JP
: None
l Unconditional jump command
l Control jumps to the specified channel, and its program will be executed continuously.
l Command format JPm
m : Channel number to jump. (default : 0)
*Program example
:CH0
IR1000&
:CH1
IR2000&
:CH2
JP0
Figure 11-3
PRG0 ~ 3
0
RUN input
Program operation
CH0
IR1000&
CH1
IR2000&
CH0
IR1000&
IPOS output
(FW ≠ 0)
— 11-3 —
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u Sequence Code
Command
Condition setting
: (HS), (AD), (AR), (ID), (IR)
: *, &
l Add a sequence code to the command to execute the next channel continuously. In this case, you do
not have to select a channel externally.
Table 11-2
Sequence code
* : asterisk
& : ampersand
IPOS output
Execution of the next channel
Yes
Executes next program continuously after positioning is over.
Yes
Stops after indexing, then waits for RUN command.
*Program example
:CH0
IR500*
:CH1
IR1000&
Figure 11-4
PRG0 ~ 3
0
RUN input
Program Operation
CH0
IR500∗
CH1
IR1000&
IPOS output
(FW ≠ 0)
u Changing Sequence Code
Condition setting
: OE
l OEseq changes the sequence code presently set.
* Program example
:CH0---------------------AR9000&
CV0.5
?OE* --------------------?
:TC0 ---------------------AR9000* --------------CV0.5
:
Declare the channel whose sequence code is to be changed.
input
O
E
∗
ENT
Check the new data programmed in this channel.
The sequence code has changed from “&” to “∗”.
— 11-4 —
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11.2. Program Editing Command
Table 11-3 : Program editing command
Editing
Command
Function
• Typing
Change program
settings
CH
C
H
m
ENT declares the channel to be
changed. (m : desired channel number)
• The display shows the present program and waits for the changes.
(The prompt is in “?” state.)
• The last input program or data always becomes valid.
• Typing
T
C
m
ENT displays the program in desired
channel. (m: desired channel number)
Display program
TC
• When checking the program in all channels, type
T
C
/
A
L
ENT
.
• Type SP key to scroll to next channel.
Deleting program
CC
• Typing
C
C
m
ENT deletes the program in the desired
channel. (m : desired channel number)
— 11-5 —
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11.3. Inputting a Program
u Programming
1)
Select a channel to be programmed.
C
2)
H
1#
0?
:CH10_
Press the enter key to execute a command.
AR18000
CV0.9
CA2
?_
ENT
The motion profile presently programmed in the channel appears on the display.
The prompt “?” appears to wait for an input.
3)
4)
Program a command.
9)
I
R
/
1# 0?
0? 0? 0?
Enter a command. Press the enter key to set the command.
CV0.9
CA2
?IR9000/10
?_
ENT
5)
Set conditions according to the command.
C
6)
CV0.9
CA2
?IR9000/10_
V
0?
.=
5%
CV0.9
CA2
?IR9000/10
?CV0.5_
Press the enter to get the prompt “?” for next command. When incorrect data is input,
reenter the correct data. When the same command with different data is input twice, the
last input becomes valid.
CA2
?IR9000/10
?CV0.5
?_
ENT
— 11-6 —
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7)
Input “0” to cancel the condition.
C
8)
A
0?
ENT
?CA0
?_
Press the ENT key only. The prompt returns to “:,” thereby completes the programming.
?
:_
ENT
u Reading channel program
1)
Declare the channel to be read and press the enter key.
T
2)
C
1# 0?
:TC10_
The display shows the program of the selected channel.
:TC10
IR9000/10
CV0.5
:_
ENT
u Deleting the program
1)
Declare the channel whose data is to be deleted.
C
2)
C
1#
0?
:CC10_
Pressing the enter key deletes the data programmed in the channel.
:CC10
:_
ENT
— 11-7 —
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11.4. Sample Program
l Write the following motion profile in Channel 5.
◊ Travel angle 30.00 degrees in the CCW direction
◊ Acceleration CA : 5 [s-2]
◊ Velocity
1)
CV : 0.5 [s-1]
Check that the “ : ” prompt is displayed on the screen.
:_
2)
C
3)
H
5%
:CH5_
After pressing the ENT key, the data presently programmed in Channel 5 will be shown
on the display.
AD27000&
CV1.00
CA20.00
?_
ENT
4)
I
D
-+
3<
0?
0?
5)
0?
AD27000&
CV1.00
CA20.00
?ID-3000_
Press the ENT key to input value, and the “?” prompt appears again.
CV1.00
CA20.00
?ID-3000
?_
ENT
6)
C
A
5%
CV1.00
CA20.00
?ID-3000
?CA5_
— 11-8 —
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7)
Press the ENT key to input value, and the “?” prompt appears again.
CA20.00
?ID-3000
?CA5
?_
ENT
8)
C
9)
V
0?
.=
5%
Press the ENT key to input value, and the “?” prompt appears again.
?ID-3000
?CA5
?CV0.5
?_
ENT
10)
CA20.00
?ID-3000
?CA5
?CV0.5_
Press the ENT key again to escape programming. This completes programming.
?CA5
?CV0.5
?
:_
ENT
— 11-9 —
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— 11-10 —
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12. Command and Parameter
l Connect Handy Terminal FHT11 to CN1 connector of the Driver Unit, then turn the power on. The
system is in normal state if “NSK MEGA---” message is returned.
l Refer to “7. Handy Terminal Communication” for details.
12.1. List of Command and Parameter
l Tables 12-1, 12-2, and 12-3 are the lists of commands and parameters.
l Some parameters shown in the tables must be changed to unique values according to actual
condition from the shipping set.
l Parameters parenthesized are properly set at the factory. If changing is necessary, contact your
local NSK representative.
* : (Current Setting) Set unique value to your application. We recommend to write down
the set value for your future reference. You may need to refer to them when changing
the operating conditions or readjusting the system. For your convenience, a parameter
and program setting list is provided in Appendix 8 and 9 of this manual.
** : Setting differs with the Motor type and size.
— 12-1 —
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Table 12-1 : YS, JS1, JS2 and RS Motor standard setting
Parameter
Name
Password
Shipping set
Data range
PG
VG
VI
VM
LG
TL
FO
FP
FS
NP
NS
DBP
DBA
ILV
FF
FC
CO
IN
IS
FW
VO
VW
CR
PC
RR
FD
FZ
FR
PS
DI
OTP
OTM
MV
MA
JV
JA
HV
HA
HZ
OS
HD
HO
(PA)
(OL)
(RC)
LR
AB
NW
MM
BM
CM
AN
WM
SE
LO
SG
(MT)
(RI)
(ZP)
(ZV)
SL
AC
Position gain
Velocity gain
Velocity integrator frequency
Velocity integrator mode
Lower velocity gain.
Torque limit rate
Low pass filter off velocity
Low pass filter, primary
Low pass filter, secondary
Notch filter, primary
Notch filter: secondary
Dead band, Position loop
Dead band, Analog command input
Integration limit
Feed forward gain
Friction compensation
Position error counter over limit
In-position
In-position stability timer
FIN width
Velocity error over limit
Velocity error over limit width
Circular resolution
Pulse command
Resolver resolution
Feedback direction mode
Feedback phase Z configuration
Feedback signal resolution
Position scale
Direction inversion
Over travel limit switch position
Over travel limit switch position
Move velocity
Move acceleration
Jog velocity
Jog acceleration
Home return velocity
Home return acceleration
Home return / near zero velocity
Home return
Hoe return direction
Home position offset
Origin setting mode
Overload limit
Rated current
Low torque ripple
I / O polarity
Chattering preventive timer
Multi-line mode
Backspace code
Communication mode
Axis number
Write mode to EEPROM
Serial error
Load inertia
Servo gain adjust, minor
Factory use only
Factory use only
Factory use only
Factory use only
Set servo loop
Analog command mode
Analog command gain; velocity control
mode
Analog command gain; torque control mode
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
0.100
1.0
1.0
1
0
100
0
0
0
0
0
0
0
100.0
0.0000
0
50 000
100
0
1
1 365
100
X1
0
-1
0
0
0
1
0
0
0
1.0000
1.00
0.1000
1.00
0.2000
1.00
0.0100
4
1
0
(700)***
**
**
0
X0X0XX00
2
1
1
0
0
0
0
0.000
0
**
**
1.00
1.4
3
1
0.010~1.000
0.1~255.0
0.10~63.00
0, 1
0~100
0~100
0, 0.01~3.00
0, 10~500
0, 10~500
0, 10~500
0, 10~500
0, 1~4 095
0~2 047
0.0~100.0
0.0000~1.0000
0~2 047
1~99 999 999
0~99 999 999
0, 0.3~100
0, 0.3~100
1~4 095
0~1 000
X1, X2, X4, 360 000, 36 000, 3 600
0~4
-1, 0, 1
0, 1
0, 1
0, 1
0, 1, 2~99
0, 1
-99 999 999~99 999 999
-99 999 999~99 999 999
0.0001~3.0000
0.01~80.00
0.0001~3.0000
0.01~80.00
0.0001~3.0000
0.01~80.00
0.0001~0.2000
1, 3, 4, 5
0, 1
-610 304~610 304
24~1 048
0~100
0~100
0, 1
0, 1, X
0~4
0, 1
0, 1
0, 1
0~15
0, 1
0, 1
0.000~50.000
0~30
1, 2, 3
-1, 0, 1
ü
1
0.10~2.00
ü
1
0.10~2.00
AGV
AGT
— 12-2 —
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Current
setting
Table 12-2 : SS Motor standard setting
Parameter
Name
Password
Shipping set
Data range
PG
VG
VI
VM
LG
TL
FO
FP
FS
NP
NS
DBP
DBA
ILV
FF
FC
CO
IN
IS
FW
VO
VW
CR
PC
RR
FD
FZ
FR
PS
DI
OTP
OTM
MV
MA
JV
JA
HV
HA
HZ
OS
HD
HO
(PA)
(OL)
(RC)
LR
AB
NW
MM
BM
CM
AN
WM
SE
LO
SG
(MT)
(RI)
(ZP)
(ZV)
SL
AC
Position gain
Velocity gain
Velocity integrator frequency
Velocity integrator mode
Lower velocity gain.
Torque limit rate
Low pass filter off velocity
Low pass filter, primary
Low pass filter, secondary
Notch filter, primary
Notch filter: secondary
Dead band, Position loop
Dead band, Analog command input
Integration limit
Feed forward gain
Friction compensation
Position error counter over limit
In-position
In-position stability timer
FIN width
Velocity error over limit
Velocity error over limit width
Circular resolution
Pulse command
Resolver resolution
Feedback direction mode
Feedback phase Z configuration
Feedback signal resolution
Position scale
Direction inversion
Over travel limit switch position
Over travel limit switch position
Move velocity
Move acceleration
Jog velocity
Jog acceleration
Home return velocity
Home return acceleration
Home return / near zero velocity
Home return
Hoe return direction
Home position offset
Origin setting mode
Overload limit
Rated current
Low torque ripple
I / O polarity
Chattering preventive timer
Multi-line mode
Backspace code
Communication mode
Axis number
Write mode to EEPROM
Serial error
Load inertia
Servo gain adjust, minor
Factory use only
Factory use only
Factory use only
Factory use only
Set servo loop
Analog command mode
Analog command gain; velocity control
mode
Analog command gain; torque control mode
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
0.100
1.0
1.0
1
0
100
0
0
0
0
0
0
0
100.0
0.0000
0
50 000
100
0
1
1 365
100
X1
0
-1
0
0
0
1
0
0
0
1.0000
1.00
0.1000
1.00
0.2000
1.00
0.0001
4
1
0
(700)***
**
**
0
X0X0XX00
2
1
1
0
0
0
0
0.000
0
**
**
1.00
1.4
3
1
0.010~1.000
0.1~255.0
0.10~63.00
0, 1
0~100
0~100
0, 0.01~3.75
0, 10~500
0, 10~500
0, 10~500
0, 10~500
0, 1~4 095
0~2 047
0.0~100.0
0.0000~1.0000
0~2 047
1~99 999 999
0~99 999 999
0, 0.3~100
0, 0.3~100
1~4 095
0~1 000
X1, X2, X4, 360 000, 36 000, 3 600
0~4
-1, 0, 1
0, 1
0, 1
0, 1
0, 1, 2~99
0, 1
-99 999 999~99 999 999
-99 999 999~99 999 999
0.0001~3.7500
0.01~100.00
0.0001~3.7500
0.01~100.00
0.0001~3.7500
0.01~100.00
0.0001~0.2000
1, 3, 4, 5
0, 1
-487 424~487 424
24~1 048
0~100
0~100
0, 1
0, 1, X
0~4
0, 1
0, 1
0, 1
0~15
0, 1
0, 1
0.000~50.000
0~30
1, 2, 3
-1, 0, 1
ü
1
0.10~2.00
ü
1
0.10~2.00
AGV
AGT
— 12-3 —
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Current
setting
Table 12-3 : AS, BS and JS0 Motor standard setting
Parameter
Name
Password
Shipping set
Data range
PG
VG
VI
VM
LG
TL
FO
FP
FS
NP
NS
DBP
DBA
ILV
FF
FC
CO
IN
IS
FW
VO
VW
CR
PC
RR
FD
FZ
FR
PS
DI
OTP
OTM
MV
MA
JV
JA
HV
HA
HZ
OS
HD
HO
(PA)
(OL)
(RC)
LR
AB
NW
MM
BM
CM
AN
WM
SE
LO
SG
(MT)
(RI)
(ZP)
(ZV)
SL
AC
Position gain
Velocity gain
Velocity integrator frequency
Velocity integrator mode
Lower velocity gain.
Torque limit rate
Low pass filter off velocity
Low pass filter, primary
Low pass filter, secondary
Notch filter, primary
Notch filter: secondary
Dead band, Position loop
Dead band, Analog command input
Integration limit
Feed forward gain
Friction compensation
Position error counter over limit
In-position
In-position stability timer
FIN width
Velocity error over limit
Velocity error over limit width
Circular resolution
Pulse command
Resolver resolution
Feedback direction mode
Feedback phase Z configuration
Feedback signal resolution
Position scale
Direction inversion
Over travel limit switch position
Over travel limit switch position
Move velocity
Move acceleration
Jog velocity
Jog acceleration
Home return velocity
Home return acceleration
Home return / near zero velocity
Home return
Hoe return direction
Home position offset
Origin setting mode
Overload limit
Rated current
Low torque ripple
I / O polarity
Chattering preventive timer
Multi-line mode
Backspace code
Communication mode
Axis number
Write mode to EEPROM
Serial error
Load inertia
Servo gain adjust, minor
Factory use only
Factory use only
Factory use only
Factory use only
Set servo loop
Analog command mode
Analog command gain; velocity control
mode
Analog command gain; torque control mode
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
ü
0.1000
1.0
1.0
1
0
100
0
0
0
0
0
0
0
100.0
0.0000
0
50 000
100
0
1
1 365
100
X1
0
-1
0
0
0
1
0
0
0
1.0000
1.00
0.1000
1.00
0.2000
1.00
0.0100
4
1
0
(700)***
**
**
0
X0X0XX00
2
1
1
0
0
0
0
0
0.000
**
**
1.00
1.4
3
1
0.010~1.000
0.1~255.0
0.10~63.00
0, 1
0~100
0~100
0, 0.01~4.50
0, 10~500
0, 10~500
0, 10~500
0, 10~500
0, 1~4 095
0~2 047
0.0~100.0
0.0000~1.0000
0~2 047
1~99 999 999
0~99 999 999
0, 0.3~100
0, 0.3~100
1~4 095
0~1 000
X1, X2, X4, 360 000, 36 000, 3 600
0~4
-1, 0, 1
0, 1
0, 1
0, 1
0, 1, 2~99
0, 1
-99 999 999~99 999 999
-99 999 999~99 999 999
0.0001~4.5000
0.01~120.00
0.0001~4.5000
0.01~120.00
0.0001~4.5000
0.01~120.00
0.0001~0.2000
1, 3, 4, 5
0, 1
-405 504~405 504
24~1 048
0~100
0~100
0, 1
0, 1, X
0~4
0, 1
0, 1
0, 1
0~15
0, 1
0, 1
0.000~50.000
0~30
1, 2, 3
-1, 0, 1
ü
1
0.10~2.00
ü
1
0.10~2.00
AGV
AGT
— 12-4 —
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Current
setting
12.2. Glossary
l This section provides description and specifications of commands and parameters.
l “Shipping set” denotes a value which is set at the factory before shipment.
l “Default” denotes a value which is adopted when entering a command and parameter with no data.
For example, if you input “DC” only, it will be recognized and executed as “DC0,” because the
default set of the “DC” command data is 0. If the command does not have a default set, then you
cannot execute the command without data.
l The password must be entered before inputting a command marked with «. Refer to “7.2.1.
Password” for more details.
«
AB
: I/O polarity
Format
Data
: AB n1 n2 n3 n4 n5 n6 n7 n8
: nn = 0 A contact (Normally open)
nn = 1 B contact (Normally close)
nn = X ◊ At the time of input:
The port set to X cannot change polarity.
◊ At the time of readout:
For the port which is shown as “X”, the polarity cannot
be change.
(Fixed to A contact.)
: X0X0XX00 (all A contacts)
: Not available. Input all 8 digits.
Shipping set
Default
l Sets the polarity of input command port.
l The ports of which polarity can be changed are EMST, HLS, OTP and OTM. The other ports are
fixed to A contact.
l Set “X” for the port of which polarity cannot be changed. If “0” or “1” is input, the display shows
“?” indicating a faulty input.
l Polarity setting can be read by “TS” or “?AB” command.
l The table below shows the data and port.
Data digit
CN2 pin No.
Signal name
n1
25
SVON
n2
12
EMST
n3
24
IOFF
n4
11
HLS
n5
23
HOS
n6
10
CLR
n7
22
OTM
— 12-5 —
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n8
9
OTP
«
AC
: Analog Command Mode
Format
Data range
Shipping set
Default
: AC data
: -1, 0, 1
:1
:0
l Set the validity (valid/invalid) and sign of the analog command input.
AC0 : Analog command input invalid.
DC command is valid.
AC1 : Analog command input valid.
Voltage + : CCW direction
AC-1 : Analog command input valid.
Voltage + : CW direction
l When the parameter DI is set to reverse the sign of coordinate, above sign is reversed again.
l Setting of “AC” command can be read by “TS” or “?AC” command.
AD
: Absolute Positioning, Degree
Format
Data1
Default data1
Data2
Default data2
: AD data1/data2
: Differs with parameter “PS” [0.01°]
:0
: PL, MI
: Direction in which the move distance is shorter
l “data1” indicates a coordinate of the destination. This position, which can be read out by TP5
command, complies with the coordinate in the unit of the angle. Refer to “9.2.1. Position Scale” for
details.
l “data1” range differs with “PS” setting.
PS0
PSn
Data range (data1)
-99 999 999 ~ +99 999 999
0 ~ (36 000 × n) -1
n : n = 1-99, Shipping set : n = 1
l “data2” indicates the rotational direction. When the parameter “PS” is set to “0” (PS0), “data2”
setting is invalid.
1)
PL : CW direction [When the parameter “DI” is set to “1” (DI1), the direction is reversed.
(CCW)]
2)
MI : CCW direction [When the parameter “DI” is set to “1” (DI1), the direction is
reversed. (CW)]
3)
Default:
• Motor moves to the direction to where the shortest distance to the destination.
• If position data of current position and destination is the same, moving distance is
0 (zero).
• If “off-limit” area is set by software over travel limit, the Motor rotates in the
direction to avoid the off-limit area regardless moving distance.
l This command has two functions depending on the usage.
1)
If it is entered in the normal standby condition (the prompt is “:”), it serves as a positioning
command.
2)
If it is entered right after inputting CH command (channel selection) and the system is in
“command receiving ” state (the prompt is “?”), it is regarded as a program data to the
specified channel.
— 12-6 —
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«
AG
: Analog Command Gain
Format
:
Data range
Shipping set
Default
AGV data
AGT data
: 0.10 ~ 2.00
: 1 (both AGV and AGT)
: Not available
l This command sets the analog command gain in the velocity and torque control mode.
AGV : Analog command gain in velocity control mode
AGT : Analog command gain in torque control mode
l Actual gain value is in proportion to the velocity or torque command.
◊ Example
When AGV0.5:
Actual velocity command = Velocity command input ×0.5
l “TS” or “?AG” command reports the current setting.
«
AN
: Axis Number
Format
Data range
Shipping set
Default
: AN data
: 0 ~ 15
:0
:0
l Sets the axis number in the daisy chain communication mode.
l “TS” command or “?AN” command reports the current setting.
l Refer to “9.3.4. Daisy Chain Communication.”
— 12-7 —
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AR
: Absolute Positioning, Resolver
Format
Data1
Default data1
Data2
Default data2
: AR data1/data2
: Differs with the parameter “PS” setting and Motor type.
:0
: PL, MI
: Direction in which the move distance is shorter
l “data1” indicates the position of the destination. The position, which may be read out by TP2
command, complies with a coordinates in the unit of pulses. Refer to “9.2.1. Position Scale” for
details.
l Format of “data1” range differs with the parameter “PS” setting and the Motor series.
Data range (data1)
SS
-99 999 999 ~ +99 999 999
0 ~ (491 520 × n) -1
YS, JS1, JS2, RS
-99 999 999 ~ +99 999 999
0 ~ (614 400 × n) -1
PS0
PSn
AS, BS, JS0
-99 999 999 ~ +99 999 999
0 ~ (409 600 × n) -1
n = 1 ~ 99, Shipping set : n = 1
l “data 2” indicates the rotational direction. When PS parameter is set to “0 (zero)”, the “data 2” is
invalid.
1)
PL : CW direction (When the parameter “DI1” is set, the direction is CCW.)
2)
MI : CCW direction (When the parameter “DI1” is set, the direction is CW.)
3)
If the “data 2” is omitted, the Motor rotates to the shortest direction to the destination. (If
the current position is the same as the destination, the Motor does not rotate.)
l This command has two functions depending on the usage.
AS
1)
If it is entered in the normal standby condition, it serves as a positioning command.
(when the prompt is “ : __“ )
2)
If it is entered just after the CH command, it can be used as a program data of designated
channel.
(when the prompt is “ ? __”)
: Ask Daisy Chain Status
Format
: AS
l In daisy chain communication, AS reads out the state of axis numbers for respective Driver Units.
l The “AS” command is executed automatically when power is turned on in the daisy chain
communication mode.
l After the “AS” command is executed, the Driver Unit of axis 0 is always selected.
AT
: Automatic Tuning
Format
: AT
l Executes “automatic tuning” to set proper servo parameters and acceleration.
— 12-8 —
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AX
: Axis Select
Format
Data
Shipping set
Default
: AX data
: 0 ~ 15
:0
:0
l When communicating in daisy chain, AX selects the one of the Driver Units. Selected Driver Unit
sends a confirmation signal back to the RS-232C terminal.
l Confirmation message is “ACC. AXn” (n = selected Driver Unit number). The Driver Unit of axis
0 is always selected when power is turned on.
l Report command “TS” or “?AX” is valid when daisy chain communication is active.
l If “AX” is input when daisy chain is not active, an error message will be given back.
l Also if “TS” or “?AX” command is input when daisy chain is not active, an error message will be
given.
Caution : Do not select any Driver Unit that is not connected. Otherwise, operation may
hang up. To return to the normal state, press the BS key first, then the
number of a connected Driver Unit.
«
AZ
: Absolute Zero Position Set
Format
: AZ
l When the Motor is stopping at any position, “AZ” command makes the current position to the origin
of the coordinate.
«
BM : Backspace Mode
Format
Data
Shipping set
Default
: BM data
: 0 or 1
:1
:0
l BM changes the function of the BS key.
BM0 : A press of the BS key cancels an entered character string on a line.
BM1 : A press of the BS key deletes a character.
l TS or “?BM” command reports the current setting.
— 12-9 —
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CA
: Channel Acceleration
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Default
: CA data
: 0, 0.01 ~ 80.00 [s -2 ]
: 0, 0.01 ~ 100.00 [s -2 ]
: 0, 0.01 ~ 120.00 [s -2 ]
:0
l This command is used to specify the rotational acceleration of a given channel of the internal
program of the designated channel.
l The CA command is only valid when the CH command designates a channel to be programmed and
the Driver Unit outputs “?__” for command input.
l If no setting is made in a channel (or 0 is specified), the rotational acceleration specified with an
“MA” command is valid.
l “TC” command reports the current setting.
◊ If “0 (zero)” is set, no response is displayed.
CC
: Clear Channel
Format
Data1
Data1 default
: CC data1
: 0 ~ 15
:0
l CC deletes the program data of a channel specified in “data.”
CH
: Channel Select
Format
Data1
Data1 default
: CH data
: 0 ~ 15
:0
l This command is to select the channel to input program.
l The input program can be read with “TC” command.
Caution : Input program when the system is servo-off state.
CL
: Clear Alarm
Format
: CL
l “CL” command clears “excess error”, “software thermal” and “program error” alarms. (Other
alarms cannot be cleared with “CL” command.)
— 12-10 —
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«
CM : Communication Mode
Format
Data
Shipping set
Default
: CM data
: 0 or 1
:0
:0
l CM selects the RS-232C communication mode.
CM0 : Standard
CM1 : Daisy chain communication
l The CM parameter set at the time of power-on is valid.
l To change the communication mode, change the CM parameter, turn off the power, then turn it on
again.
l “TS” or “?CM” command reports the current setting.
CO : Position Error Counter Over Limit
Format
Data
Shipping set
Default
: CO data
: 1 ~ 99 999 999 [pulse]
: 50 000
: Not available
l CO sets the position error counter value at which the excess position error alarm is to be detected.
l When the position error exceeds the set value, the Driver Unit outputs the excess position error
alarm and opens the DRDY output circuit.
l “TS” or “?CO” command reports the current setting.
«
CR
: Circular Resolution
Format
Data
Shipping set
Default
: CR data
: X1, X2, X4, 360 000, 36 000, 3 600
: X1
: Not available
l Use to specify the pulse train input resolution.
l For the details, refer to “10.2.3. Pulse Train Command Operation.”
l The resolution changes immediately after CR data is specified.
l “TS” or “?CR” command reports the current setting.
— 12-11 —
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CV
: Channel Velocity
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Default
: CV data
: 0, 0.0001 ~ 3.0000 [s -1 ]
: 0, 0.0001 ~ 3.7500 [s -1 ]
: 0, 0.0001 ~ 4.5000 [s -1 ]
:0
l This command is used to specify the rotational velocity of each channel of the Programmable
Indexer.
l If no setting is made in a channel (or 0 is specified), the rotational velocity specified with an “MV”
command is valid
l The CV command is only valid when the CH command designates a channel to be programmed and
the Driver Unit outputs “?__” for command input.
◊ If it is input under normal standby state (the prompt is “:”), an alarm will arise.
l “TC” command reports the current setting.
◊ If “0 (zero)” is set, no response is displayed.
«
DB
: Dead Band
Format
Data DBA
Data DBP
Shipping set
Default
:
DBA data
DBP Data
: 0, 1 ~ 2 047
: 0, 1 ~ 4 095
: 0 (for both DBA and DBP)
:0
l Sets a dead band for the position loop and analog command input.
DBP : Position loop dead band
DBA : Analog command input dead band
l “TS” or “?DB” command reports current setting.
l For the details, refer to “9.2.6. Dead Band Setting : DBP.”
l For the details of DBA, refer to “10.3.2. Analog Velocity Command” or “10.4.2. Analog Torque
Command.”
— 12-12 —
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DC
: Digital RS-232C Command
Format
Data
Default
: DC data
: -4 095 ~ 4 095 (data polarity in + value : CW direction)
:0
l This command is to input directly the operation command through RS-232C communication
interface in velocity or torque control mode.
However, the use of this command shall be limited to an ordinal operation or a testing operation of
the Motor due to sluggish response.
l If “DC” command is input when an analog command (“AC” command) is valid, “DC
INHIBITED” message will be given and the command will be invalidated.
l The data of this command is cleared to “0” in following state.
1)
Servo off
2)
Emergency stop
3)
Overtravel limit
4)
Control mode selection
5)
Analog command is valid.
Caution : When the position scale direction is reversed by the parameter DI, the sign of
data of DC command is also reversed.
«
DI
: Direction Inversion
Format
Data
Shipping set
Default
: DI data
: 0 or 1
:0
:0
l Switches the position scale coordinate counting direction.
l For the details, refer to “9.2.1. Position Scale .”
«
FC
: Friction Compensation
Format
Data
Shipping set
Default
: FC data
: 0 ~ 2 047
:0
:0
l “FC” is used to specify a compensation value to cancel rotational static friction of the Motor.
l If 0 is specified in “data,” the function is deactivated.
l Parameter FC can be obtained with the formula shown below.
FC “data” = 2 047 ×
Static friction torque
Motor maximum torque
l The setting can be read with “TS” or “?FC” command.
— 12-13 —
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«
FD
: Feed Back Direction Mode
Format
Data
Shipping set
Default
: FD data
: 0, 1
:0
:0
l Reverses the output timing between øA and øB of the position feedback signal.
FD0 : Standard;
øA is leading phase in CW direction.
FD1 : Reverse;
øB is leading phase in CW direction.
l “TS” or “?FD” command reports the current setting.
«
FF
: Feed Forward Gain
Format
Data
Shipping set
Default
: FF data
: 0.0000 ~ 1.0000
:0
:0
l FF sets the feed forward compensation gain.
l Setting 0 cancels the feed forward compensation function.
l “TS” or “?FF” command reports the current setting.
FO
: Low-pass Filter OFF Velocity
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: FO data
: 0, 0.01 ~ 3.00 [s -1 ]
: 0, 0.01 ~ 3.75 [s -1 ]
: 0, 0.01 ~ 4.50 [s -1 ]
:0
:0
l Sets the low pass filters (parameter FP and FS), depending upon velocity.
l FO data sets the velocity threshold which turns ON and OFF the low pass filters.
Velocity
Filter ON
FO data
Filter OFF
Time
l When this function is set, it is possible to lower the resonance noise level without affecting on the
settling time.
l When “FO” is set to 0, the function is invalid. (The low-pass filters are always active.)
— 12-14 —
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FP
: Low-pass Filter, Primary
Format
Data
Shipping set
Default
: FP data
: 0, 10 ~ 500 [Hz] or /AJ (Adjusting mode)
:0
:0
l FP sets the frequency of the primary low-pass filter of the velocity loop.
l When 0 is input, the velocity-loop primary low-pass filter is set to “off.” At this time, [PRI.LPF
OFF] appears on the display.
l When data other than 0 (i,e, 10 ~ 500) is input, the frequency specified by the data is set.
l The set value can be read by the “TS” command and “?FP.”
l Inputting FP/AJ can set to fine adjusting mode.
«
FR
: Feedback Signal Resolution
Format
Data
Shipping set
Default
: FR data
: 0 or 1
:0
:0
l Sets the resolution specification of the position feedback signal øA and øB.
FR0 : 10-bit resolution specification
FR1 : 12-bit resolution specification
l For more details, refer to “4.2.3. Functional Specification.”
l Set FR0 when the resolver resolution is set to 10-bit or automatic resolution switching by the RR
parameter. If FR1 is set, øA and øB will not be output.
l Both FR0 and FR1 can be selected when the resolver resolution is set to 12-bit specification by the
RR parameter.
l “TS” or “?FR” command reports the current setting.
FS
: Low-pass Filter, Secondary
Format
Data
Shipping set
Default
: FS data
: 0, 10 ~ 500 [Hz] or /AJ (Adjusting mode)
:0
:0
l Sets the frequency of the secondary low-pass filter of the velocity loop.
l When 0 is input, the velocity-loop secondary low-pass filter is set to “off.” At this time, [SEC.LPF
OFF] appears on the display.
l When data other than 0 (i,e, 10 ~ 500) is input, the frequency specified by the data is set.
l The set value can be read by the “TS” command and “?FS.”
l Inputting FS/AJ can set to fine adjusting mode.
— 12-15 —
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FW : FIN Width
Format
Data
Shipping set
Default
: FW data
: 0 or 0.3 ~ 100 [0.1 second]
:1
:0
l Sets the time length of IPOS output. Unit is 0.1 sec.
l If it is set to FW1, the time length of the IPOS output will be 0.1 sec.
l If it is set to FW0, IPOS output is in standard state and always closed when the position error
counter value is less than the “IN” setting.
l When it is set to FW0.3 ~ FW100, IPOS output is closed for the moment as set when the position
error counter value is less than the “IN” value.
l Refer to “9.1.8. In-Position Output” for the output timing.
l “TS” or “?FW” command reports the current setting.
l Set FW0 when the system is performing the pulse train command operation.
«
FZ
: Feedback Phase Z Configuration
Format
Data
Shipping set
Default
: FZ data
: 0 or 1
:0
:0
l FZ selects the output format of the position feedback signal CHZ (CN2 output).
FZ0 : Outputs the øZ signal from CHZ.
FZ1 : Outputs MSB of the digital position signal from CHZ.
l Refer to “9.1.9. Position Feedback Signal” for the output timing of the øZ signal or MSB.
l “TS” or “?FZ” command reports the current setting.
HA
: Home Return Acceleration
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: HA data
: 0, 0.01 ~ 80 [s -2 ]
: 0, 0.01 ~ 100 [s -2 ]
: 0, 0.01 ~ 120 [s -2 ]
: 1.00 [s -2 ]
: Not available
l Sets Home Return acceleration.
l “TS” or “?HA” command reports the current setting.
— 12-16 —
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«
HD
: Home Return Direction
Format
Data
Shipping set
Default
: HD data
: 0 or 1
:1
:0
l Refer to “10.2.1. Home Return” for details
l HD0 : Home Return in the CW direction
l HD1 : Home Return in the CCW direction
«
HO : Home Offset
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: HO data or /ST
: -610 304 ~ 610 304 (pulse)
: -487 424 ~ 487 424 (pulse)
: -405 504 ~ 405 504 (pulse)
:0
:0
l In Home return, this command sets the pulse counts to stop the Motor after the resolver hits its
reference point (øZ* ON) for the first time after Home position limit switch input (HLS: CN2) is
OFF. Refer to “7.2. Home Return.”
l “TS” or “?HO” command reports the current setting.
HS
: Home Return Start
Format
: HS opt
: opt = default ----- Normal Home Return
: opt = /LS ---------- Adjust limit position
l Starts Home Return.
l Input HS/LS to adjust position of the home position proximaty sensor.
l For more details, refer to “10.2.1.2. Adjusting Home Position Switch and Home Offset Value.”
HV
: Home Return Velocity
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: HV data
: 0.0001 ~ 3.0000 [s -1 ]
: 0.0001 ~ 3.7500 [s -1 ]
: 0.0001 ~ 4.5000 [s -1 ]
: 0.2000
: Not available
l Sets Home Return velocity.
l “TS” or “?HV” command reports the current setting.
— 12-17 —
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HZ
: Home Return Near-Zero Velocity
Format
Data
Shipping set
Default
: HZ data
: 0.0100 ~ 0.2000 [s -1 ]
: 0.0100 [s -1 ]
: Not available
l Sets Home Return near-zero velocity.
l “TS” or “?HZ” command reports the current setting.
ID
: Incremental Positioning, Degree
Format
Data
Default
: ID data
: -99 999 999 ~ +99 999 999 [0.01°]
:0
l Executes the incremental positioning command (in unit of degrees) in the RS-232C communication
operation.
l Data is in the unit of 0.01°.
l The data sign specifies the direction of rotation.
data > 0 : plus direction (CW)
data < 0 : minus direction (CCW)
Example : ID-10000 : The Motor turns 100° in the minus direction
«
ILV : Integration Limit
Format
Data
Shipping set
: ILV data
: 0.0 ~ 100.0 [%]
: 100
l Provides the velocity loop integrator with a limit.
l For more details, refer to “9.2.5. Integrator Limit : ILV.”
l “TS” or “?ILV” command reports the current setting.
IN
: In-position
Format
Data
Shipping set
Default
: IN data
: 0 ~ 99 999 999 [pulse]
: 100
:0
l Specify an in-position width (criteria to detect completion of positioning). If the position error
counter reaches a value below the IN set value, the IPOS signal is output.
l “TS” or “?IN” command reports the current setting.
l When the resolver is set to 10-bit resolution, the resolution becomes one-fourth of the 12-bit setting.
Therefore, only a multiple of 4 can be set (valid) as IN data.
— 12-18 —
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IO
: Input /Output Monitor
Format
Data
: IO data opt
: data = default or 0----- Indicates CN2 input/output status.
data = 1 ----------------- Indicates CN2 input/output status.
( B contact input indication is reversed.)
data = 2 ----------------- Indicates input/output status in programmed
operation.
data = 3 ----------------- Indicates input/output status in Jog
operation.
Option code
: opt = default ------------ Indicates current status in one shot.
opt = /RP---------------- Reading is repeated automatically.
l Indicates the status of control input/output signal (ON/OFF , open/close) by 1 or 0.
1 : Input ON, output closed
0 : Input OFF, output opened
l To terminate IO/RP repeated automatic reading, press BS key.
l For more details, refer to “9.1.10.2. Monitoring I/O State (IO).”
IR
: Incremental Positioning, Resolver
Format
Data
Default
: IR data
: -99 999 999 ~ +99 999 999 [pulse]
:0
l Executes the incremental positioning command (in the unit of pulse) in the RS-232C communication
operation.
l The data sign specifies the direction of rotation (movement).
data > 0 : plus direction (CW direction)
data < 0 : minus direction (CCW direction)
IS
: In-position Stability Timer
Format
Data
Default
: IS data
: 0 or 0.3 ~ 100.0 [0.1 sec]
:0
l Specifies the output condition of the positioning completion signal (IPOS).
IS0
: The IPOS output closes in positioning if the value of the position
error counter is within the IN set range.
IS data (data ≠ 0) : The IPOS output closes in positioning if the value of the position
error counter is stable within the IN set range for the time specified
in IS. The timer value is specified in “data” in units of 0.1 second. It
may be 0.03 to 10 seconds if data is specified as 0.3 to 100.
l “TS” or “?IS” command reports the current setting.
— 12-19 —
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JA
: Jog Acceleration
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: JA data
: 0.01 ~ 80.00 [s -2 ]
: 0.01 ~ 100.00 [s -2 ]
: 0.01 ~ 120.00 [s -2 ]
:1
: Not available
l Sets the acceleration for Jog operation.
l “TS” or “?JA” command reports the current setting.
JP
: Jump
Format
Data
Default
: JP data
: 0 ~ 63
:0
l “JP” is used to specify the destination channel of unconditional jump in an internal program.
l If a channel with a “JP” command is executed, processing program jumps to channel specified by
“data” unconditionally.
l The “JP” command may be input under the condition where a channel to be programmed is
selected with a “CH” command, the Driver Unit outputs “?,” and the system waits for a command.
If it is entered in the normal standby state, an error occurs. (normal standby state : A colon “:” is
displayed)
l “TC” command reports current setting.
JV
: Jog Velocity
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: JV data
: 0.0001 ~ 3.0000 [s -1 ]
: 0.0001 ~ 3.7500 [s -1 ]
: 0.0001 ~ 4.5000 [s -1 ]
: 0.1
:0
l Sets the velocity for Jog operation.
l “TS” or “?JV” command reports the current setting.
— 12-20 —
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LG
: Lower Velocity Gain
Format
Data
Shipping set
Default
: LG data
: 0 ~ 100 (%)
:0
: Not available
l Sets velocity loop proportional gain (VG) lowering ratio when IOFF input is activated.
l However, LG is invalidated when an excessive position error alarm is issued.
l The Motor does not generate torque if LG remains LG0 when IOFF turns ON.
«
LO
: Load Inertia
Format
Data range
Shipping set
Default
: LO data
: 0.000 ~ 50.000 [kgm 2]
:0
:0
l This is to set the actual load inertia. The data may be entered when the load inertia is known prior
to perform automatic tuning.
◊ The automatic tuning sets actual load inertia LO automatically.
l TS command or ?LO reports the current setting.
l Data of PG, VG, VI and MA will be automatically adjusted when LO data is changed.
l Data of LO is cleared to 0 when one of the data of PG, VG or VI is changed.
«
LR
: Low Torque Ripple
Format
Data range
Shipping set
Default
: LR data
: 0, 1
:0
:0
l Selects the characteristics of the Motor torque output.
0 : Standard
1 : Low torque ripple. (the maximum Motor torque will be lowered)
l “TS” or “?LR” command reports the current setting.
— 12-21 —
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MA : Move Acceleration
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: MA data
: 0.01 ~ 80.00 [s -2 ] or /AJ (Adjust mode)
: 0.01 ~ 100.00 [s -2 ] or /AJ (Adjust mode)
: 0.01 ~ 120.00 [s -2 ] or /AJ (Adjust mode)
: 1.00 [s -2 ]
: Not available
l Sets the rotational acceleration of the RS-232C communication positioning.
l “TS” or “?MA” command reports the current setting.
l “MA/AJ” command gets into fine adjusting mode.
MI
: Read Motor ID
Format
: MI
l MI indicates reference number of the system ROM and the torque ROM.
«
MM : Multi-line Mode
Format
Data
Shipping set
Default
: MM data
: 0, 1
:1
:0
l Sets the display format of commands or parameters to be read out by “TA,” “TC” and “TS”
commands.
l “MM0” reports all contents continuously.
l When “MM1” is input, the display reports the setting pausing at each item. At this time, the
semicolon “;” appears the end of command or parameter.
[Example : MA0.01;]
l Only the space key and backspace key are valid when the Motor is pausing. Press the space key to
step to the next parameter and press the backspace key to quit from the report. The colon ":"
appears to wait for next command.
l “TS” or “?MM” reports the current setting.
— 12-22 —
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MN : Monitor
Format
Data
Shipping set
Default
: MN data
:0~7
:0
:0
l Selects and sets the condition of the analog monitor.
l The setting is not backed-up in the memory. “MN” command must be entered when monitoring is
required.
l Setting can be read by “?MN” command.
l The condition of monitor is shown in the table below.
MN data
MN0
MN1
MN2
MN3
MN4
MN5
MN6
MN7
Monitor output
Velocity
Velocity command
Velocity error
Torque command
Phase C current command
Position command
Position error (± 127 pulses / ± 10V)
Position error (± 16 383 pulses / ± 10V)
MO : Motor Off
Format
: MO
l When the SVON input (CN2) is ON and the Motor is in the servo-on state, inputting the “MO”
command turns the Motor servo off.
l To activate the Motor servo again, input the “SV” command or the “MS” command.
l When the “MS” command is input, the Motor gets in the servo-on state. This also clears the
inputted operation command previously.
MS : Motor Stop
Format
: MS
l When the “MS” command is input during the execution of an operation, the Motor abandons the
programs and stops. At this time, the Motor is in the servo-on state.
l The programs specified before the Motor stop are cleared. If the “MO” command is input to turn
off the Motor servo, inputting the MS command sets the Motor to servo-on again. This also clears
the programs being executed before the input of the “MO” command.
— 12-23 —
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«
MT : Factory Use Only
Shipping set
: Already set properly for every system.
Caution : Do not change the setting since the parameter is properly set at the plant.
l This parameter is set at the factory befor shipping.
l “TS” or “?MT” command reports the current setting.
MV : Move Velocity
Format
Data
Motor series
YS, JS1, JS2, RS
SS
AS, BS, JS0
Shipping set
Default
: MV data
: 0.0001 ~ 3.0000 [s -1 ] or /AJ (Adjust mode)
: 0.0001 ~ 3.7500 [s -1 ] or /AJ (Adjust mode)
: 0.0001 ~ 4.5000 [s -1 ] or /AJ (Adjust mode)
: 1.0000 [s -1 ]
: Not available
l Sets the rotational velocity of the Motor in the RS-232C communication positioning command.
l “TS” or “?MV” command reports the current setting.
l “MV/AJ” command sets to adjusting mode.
NP
: Notch Filter, Primary (primary notch filter frequency)
Format
Data
Shipping set
Default
: NP data
: 0 or 10 ~ 500 [Hz] or /AJ (Adjusting mode)
:0
:0
l NP is used to specify the frequency of the primary notch filter of the velocity loop.
l If 0 is specified, the primary notch filter of the velocity loop is deactivated. In such a case, “PRI.NF
OFF” is displayed.
l If a value other than 0 (i.e., 10 ~ 500) is entered, the value is adopted as the frequency.
l “TS” or “?NP” command reports the current setting.
l “NP/AJ” command sets to adjusting mode.
— 12-24 —
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NS
: Notch Filter, Secondary (secondary notch filter frequency)
Format
Data
Shipping set
Default
: NS data
: 0, 10 ~ 500 [HZ] or /AJ (adjust mode)
:0
:0
l NS data sets frequency of secondary notch filter.
l If “0” is specified, the 2nd stage notch filter will be set to OFF. In such a case the display shows
“SEC.NF.OFF.”
l If the data other than “0” (i.e., 10 ~ 500) is specified, the frequency sets to data.
l Command TS or ?NS reports the current setting.
l NS/AJ starts adjusting program.
«
NW : Neglect Width
Format
Data
Shipping set
Default
: NW data
:0~4
:2
:0
l RUN and HOS are rising edge-triggered inputs. To protect against chattering due to physical
contact, the NW parameter sets a timer length to confirm the input as the current level detection.
Timer = data × 2.8 [ms]
l “TS” or “?NW” command reports the current setting.
OE
: Sequence Option Edit
Format
Data
Default
: OE data
: * or &
: Not available
l OE changes the sequence code of a program already specified in a channel.
l When this command is entered under the following conditions, the sequence code that is set
previously to the specified channel will be changed to the data of this command.
◊ CH command specifies a channel to be programmed.
◊ The Driver Unit outputs “?” indicating that it is ready for a command.
l “data” indicates the sequence code. Adding the sequence code enables to execute the positioning
of next channel without selecting it externally.
◊*
After the positioning is over, “IPOS” signal is output and execute the next channel’s
program.
◊ & After the positioning is over, outputs “IPOS” signal and stops. Then executes the next
channel’s program when “RUN” command is input.
— 12-25 —
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«
OG : Origin Set
Format
: OG
Caution : This “OG” command is for factory use only. Do not change the setting.
«
OL
: Overload Limit
Format
Data
Shipping set
Default
: OL data
: 0 ~ 100
: Unique value for each System
:0
l Do not change the OL setting. OL is properly set for each System. If it needs to be changed,
contact NSK.
l If 0 is specified, the Driver Unit displays “THERMAL OFF” to indicate it is deactivated.
l “TS” or “?OL” command reports the current setting.
«
OS
: Origin Setting Mode
Format
Data
Shipping set
Default
: OS data
: 1, 3, 4, 5
:4
: Not available
l Sets the “Home Return” mode.
OS1 : Completes “Home Return” at where “HLS” input goes OFF after entering “HLS”
ON range.
OS3 : Completes “Home Return” at where the Motor advances “HO” value after going
out from “HLS” ON range.
OS4 : Completes “Home Return” at where the Motor advances for “HO” value after
entering “HLS” ON range.
OS5 : Completes “Home Return” at where “HLS” input goes ON.
l Refer to “10.2.1. Home Return” for OS4 sequential chart.
l The Home Return setting can be checked with “TS” or “?OS” command.
«
OTP
«
OTM
: Overtravel Limit Switch Position
Format
Data
Shipping set
Default
: OTP data, OTM data
: -99 999 999 ~ +99 999 999 [pulse]
: 0 (OTP, OTM)
:0
l Sets the software overtravel limit values in the position scale.
OTP : Sets the overtravel limit value in the plus direction in the units of pulse.
OTM : Sets the overtravel limit value in the minus direction in the units of pulse.
l “OTP/ST” and “OTM/ST” command enables to set the position by teaching.
(For more details, refer to “9.1.5.2. Software Over-travel Limit Switch.”)
l “TS” or “?OTP”, “?OTM” command reports the current setting.
— 12-26 —
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«
PA
: Phase Adjust
Format
Data
Shipping set
Default
: PA data
: 24 ~ 1 048
: 700 (However, for non-interchangeable Motor, data varies with
individual Motor.)
: Not available
l Sets the compensation value of the resolver installation position.
l The resolver is set to the optimum installation position before shipment. Do not input PA in normal
use.
l “TS” or “?PA” command reports the current setting.
«
PC
: Pulse Command
Format
Data
Shipping set
Default
: PC data
:0~4
:0
:0
l Sets the format of the pulse train input.
PC0 : CW & CCW format
PC1 : Pulse & direction format
PC2 : øA/øB input, single format
PC3 : øA/øB input, duplex format
PC4 : øA/øB input, quadrature format
l “TS” or “?PC” command reports the current setting.
PG
: Position Gain
Format
Data
Shipping set
Default
: PG data
: 0.010 ~ 1.000 or /AJ (adjusting mode)
: 0.100
: Not available
l Sets proportional gain of the position loop.
l “TS” or “?PG” command reports the current setting.
l “PG/AJ” command sets to the fine adjusting mode.
l PG/AJ starts adjust mode.
l It is automatically adjusted when LO data or SG data is changed.
l LO data and SG data are cleared to 0 when PG data is changed.
— 12-27 —
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«
PH
: Programmed Home Return
Format
Data
Shipping set
Default
: PH data
: 0 ---- Automatic Home Return invalid
1 ---- Execute Home Return only once when the power is turned on
and the Home position is not certain.
2 ---- Execute Home Return every time before execution of the
programmed operation.
:0
:0
l This is to execute Home Return operation automatically before the programmed operation is
performed.
l The setting makes “HS” command unnecessary and can save one channel program area.
l “TC/AL” or “?PH” command reports the current setting.
«
PS
: Position Scale
Format
Data
Shipping set
Default
: PS data
: 0, 1, 2 ~ 99
:1
:0
l Specifies the internal position scale system of the Megatorque Motor system.
PS0
: Linear position scale
PS1
: Single-rotation position scale
PS2 to 99 : Multi-rotation position scale
l “For more details, refer to “9.2.1. Position Scale .”
l “TS” or “?PS” command reports the current setting.
RA
: Read Analog Command
Format
: RA
RA/RP
l Reads the analog command value when an analog command is valid.
l “RA” input reports reading only once. “RA/RP” reports the reading continuously. To quit from the
continuous reading, press BS key.
l “RA INHIBITED” message will be returned when an analog command is invalid.
l The report is a decimal number in -2 048 ~ 2 047.
l The report includes the result of dead band setting when “DBA” (dead band) is set to an analog
command.
— 12-28 —
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«
RC
: Rated Current (Software Thermal)
Format
Data
Shipping set
Default
: RC data
: 0 ~ 100
: Unique value for each Motor
:0
l Do not change the RC setting. RC is properly set for each Motor. If it needs to be changed, contact
NSK.
l “TS” or “?RC” command reports the current setting.
«
RI
: Factory Use Only
Shipping set
: Set properly to each Motor.
Caution : Do not change setting. It is properly set for each Motor at the factory.
l “TS” or “?RI” reports the current setting.
«
RR
: Resolver Resolution
Format
Data
Shipping set
Default
: RR data
: 0, 1, -1
: -1
:0
l Sets the resolution of the resolver.
RR0 : 10-bit setting
RR1 : 12-bit setting
RR-1 : Automatic resolution switching
l For details of resolution, refer to “4.2.3. Functional Specification.”
l “TS” or “?RR” command reports the current setting.
«
SE
: Serial Error
Format
Data range
Shipping set
Default
: SE data
: 0, 1
:0
:0
l Set DRDY output format when RS-232C serial communication is abnormal.
SE0: DRDY output close (Motor state: normal)
SE1: DRDY output open (Motor state: servo lock)
— 12-29 —
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SG
: Servo Gain Adjust, Minor
Format
Data
Shipping set
Default
: SG data
: 0 ~ 30 [HZ] or /AJ (Adjust mode)
:0
: Not available
l Sets position loop gain in the automatic tuning minor adjustment.
l When “SG” value is changed, the parameter “PG” (position loop proportional gain), “VG” ( velocity
loop proportional gain) and “VI” (velocity loop integration frequency) parameter settings will be
automatically renewed.
l “SG/AJ” command starts the fine adjusting program.
l “TS” or “?SG” reports the current setting.
l If PG, VG or VI is changed, SG setting is cleared to 0.
«
SI
: Set Initial Parameters
Format
Data range
Default
: SI/data
: None, AL, SY, YS
: None
l Resets parameters to the shipping set value.
l The “SI” command can be input only immediately after inputting the password and when the Motor
is servo-off.
l The followings shows the parameters which are initialized by execution of command SI.
SI
: Initializes servo related parameters (PG, VG, VI, DBP, ILV, FF, FP, FS, NP, NS, LG,
TL, SG, FO, FC)
SI/AL : Initializes all parameters.
SI/SY : This parameter initializes all parameters excluding PA for ESA25 type Driver Unit.
SI/YS : Initializes all parameters. PA will be set to 700.
* Executing “SI/AL” entails resolver phase adjustment. Be careful that the Motor is not locked
by an external force. Do not perform initializing only to the Driver Unit.
Caution : It requires approximately 30 seconds to initialize the system. Do not turn off
the power while initializing. Otherwise, the memory error will arise.
* If the memory is faulty, SI/AL will be executed when SI and SI/SY are input.
— 12-30 —
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«
SL
: Set Servo Loop
Format
Data
Shipping set
Default
: SL data
: 1, 2, 3
:3
: Not available
l Sets the control mode.
SL1 : Torque control mode
SL2 : Velocity control mode
SL3 : Position control mode
l Position control mode is valid immediately after inputting this command.
l “TS” or “?SL” command reports the current setting.
«
SM : Factory use only
Shipping set
:1
Caution : “SM” is properly set at the factory. Do not change the setting.
SP
: Start Program
Format
Data range
Default
: SP data
: 0 ~ 63 or /AJ (Adjust mode)
:0
l Executes the program of a channel specified by “data.”
l “SP/AJ” command executes the demonstration program (back and forth operation).
SV
: Servo-on
Format
: SV
l When the Motor servo is turned off by “MO” command, executing the “SV” command will turn the
Motor servo on.
l To turn the Motor servo on by the “SV” command, the SVON input of CN2 must be ON.
— 12-31 —
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TA
: Tell Alarm Status
Format
Data
Default
l TA
: TA
: None /HI/ CL
: None
: Reports alarms currently arisen.
l TA/HI : Displays history of alarms. Refer to “14.2.5. History of Alarms.”
l TA/CL : Clears history of alarms. Password is required to execute the command.
l There will be no indication when no alarm is reported.
l Indication below is displayed when the alarm is reported.
l When an alarm is reported, it is identified as shown below.
Alarm
Memory error
EEPROM error
System error
Interface error
Analog command error
Excess Position error
Software Over Travel Limit
Hardware Over Travel Limit
Emergency Stop
Program error
Automatic Turing error
RS232C error
CPU error
Resolver Circuit error
Software Thermal Sensor
Velocity error over
Heat Sink Overheat or
Regeneration Resistor Overheat
Abnormal Main AC Line Voltage
Over Current
Control AC Line Under Voltage
7 segments
LED
E0
E2
E7
E8
E9
F1
F2
F3
F4
F5
F8
C2
C3
A0
A3
A4
Terminal Display
E0>Memory Error
E2>EEPROM Error
E7>System Error
E8>I/F Error
E9>ADC Error
F1>Excess Position Error
F2>Software Over Travel
F3>Hardware Over Travel
F4>Emergency Stop
F5>Program Error
F8>AT Error
C2>RS-232C Error
C3>CPU Error
A0>Resolver Circuit Error
A3>Overload
A4>RUN away
P0
P0>Over Heat
P1
P2
P3
P1>Main AC Line Trouble
P2>Over Current
P3>Control AC Line Under Voltage
l When multiple alarms are reported, a pause between the alarms will start a new line.
l Switching display format by MM is effective.
l Example of display: Hardware travel limit and emergency stop are displayed by MM1 format.
:TA
F3>Hardware Over Travel;
F4>Emergency Stop;
:_
— 12-32 —
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TC
: Tell Channel Program
Format
Data
Default
: TC data
: 0 ~ 63 or /AL
:0
l Reports the program contents of a channel specified by “data.”
l No data is displayed if program is not set to the channel.
l “TC/AL” command is to scroll all channels by pressing the space key.
TE
: Tell Position Error Counter
Format
: TE/RP
l Reads out the value of position error counter. The reading shall be between –2 147 483 648 and +2
147 483 647. When it exceeds (or falls below) the upper (or lower) limit, the reading will change to
backward counting in minus (or plus) side.
l When only “TE” is entered, the display shows the current reading once.
l If an /RP option is added to a “TE” command, reading is repeated automatically.
l In automatic reading, a value consisting of up to six figures is read out. If a value consists of more
than six figures, “*******” is displayed.
l To terminate automatic reading, press the BS key.
«
TL
: Torque Limit Rate
Format
Data
Shipping set
Default
: TL data
: 0 ~ 100 [%]
: 100
:0
l Sets the torque limit.
l The Motor torque will be reduced to a percentage (%) of the value immediately after “TL” is input
and the Motor torque is controlled not to exceed the limit thereafter.
l “TS” or “?TL” reads the current setting.
— 12-33 —
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TP
: Tell Position
Format
Data
Shipping set
Default
: TP data/RP
: 2, 5
: None
: Not available
l “TP” command reads the current position of the Motor in the position scale set by PS parameter.
l If /RP is executed with an /RP option, reading is repeated automatically.
l If only “TP data” is executed, the display shows the current position once.
l To terminate automatic reading, press the BS key.
l TP2/RP : in the units of pulse
YS, JS1, JS2, RS : 614 400 pulses/revolution
SS
: 491 250 pulses/revolution
AS, BS, JS0
: 409 600 pulses/revolution
l TP5/RP : in the units of 0.01°
36 000/revolution
TR
: Tell RDC Position Data
Format
: TR/RP
l TR reads data of RDC position data.
l Data is between 0 and 4 095.
l If TR command is executed with /RP option, reading is repeated automatically.
l “TR” command reads out the status at the moment.
l To terminate automatic reading, press the BS key.
— 12-34 —
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TS
: Tell Settings
Format
Data
Default
: TS data
: 0 ~ 13
:0
l This is to read out parameter settings. The parameter to be read out varries with the data.
1)
Standard ESA 25
TS0 : Reads out all parameters listed below.
TS1 : PG, VG, VI, VM, LG, TL
TS2 : FO, FP, FS, NP, NS, DBP, DBA, ILV, FF, FC
TS3 : CO, IN, IS, FW, VO, VW
TS4 : CR, PC, RR
TS5 : FD, FZ, FR
TS6 : PS, DI, OTP, OTM
TS7 : MV, MA, JV, JA, HV, HA, HZ
TS8 : OS, HD, HO
TS9 : PA, OL, RC, LR
TS10 : AB, SM, NW
TS11 : MM, BM, CM, AN, WM, SE
TS12 : LO, SG, MT, RI, ZP, ZV
TS13: SL, AC, AGV, AGT
l Report format may be selected by MM.
VG
: Velocity Gain
Format
Data
Shipping set
Default
: VG data
: 0.1 ~ 255.0 or /AJ (Adjusting mode)
: 1.0
: Not available
l Sets velocity loop proportional gain.
l “VG/AJ” command starts the fine adjusting program.
l “TS” or “?VG” reports the current setting.
l When LO and SG data are changed, the gain will be automatically adjusted.
l When VG data is changed, LG and SG data will be cleared to 0.
— 12-35 —
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VI
: Velocity Integrator Frequency
Format
Data
Shipping set
Default
: VI data
: 0.10 ~ 63.00 [HZ] or /AJ (Adjusting mode)
: 1.00
: Not available
l Sets the integration frequency of velocity loop.
l “VI/AJ” starts the fine adjusting mode.
l “TS” or “?VI” reports the current setting.
l VI will be automatically adjusted when LO and SG data are chnaged.
l When VI data is changed, LO and SG data is cleared to 0.
«
VM : Velocity Integrator Mode
Format
Data
Shipping set
Default
: VM data
: 0, 1
:1
:0
l Changes the velocity loop integrator control as shown below.
VM0 : Velocity loop P control.
VM1 : Velocity loop PI control.
«
VO
: Velocity Error Over Limit
Format
Data
Shipping set
Default
: VO data
: 1 ~ 4 095
: 1 365
: Not omissible
l This is to set the error limit to detect velocity error over alarm.
l Velocity error over alarm will be given when the deviation of velocity exceeds the setting.
l Correspondence between velocity error and data depends on Motor type.
Motor type
YS, JS1, JS2, RS
SS
AS, BS, JS0
Number of teeth
(lamination)
150
120
100
Set data
data = Velocity error limit [s -1] × (4 095/3)
data = Velocity error limit [s -1] × (4 095/3.75)
data = Velocity error limit [s -1] × (4 095/4.5)
— 12-36 —
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«
VW : Velocity Error Over Limit Width
Format
Data
Shipping set
Default
: VW data
: 0 ~ 1 000
: 100
:0
l This is to set the time length to detect velocity error over limit.
l When velocity error limit is over for VW (time length), velocity over limit alarm is given.
«
WD : Write Data to EEPROM
Format
: WD
l Writes all current settings of programs and parameters to EEPROM.
l Use this command when “WM1” (data back-up invalid) is set.
Caution : • Approximately 30 seconds are required to execute this command.
• Do not turn the power off while executing the command.
• Otherwise, memory error alarm may be given.
«
WM : Write Mode to EEPROM
Format
Data
Shipping set
Default
: WM data
: 0 or 1
:0
:0
l 500 000 times of resetting/deleting parameters to EEPROM are possible as data back-up. However,
frequent resetting/deleting of parameters may exceed the expected life of EEPROM. “WM” is to
select data back-up mode to reduce frequency of parameter resetting/deleting.
WM0 : Data back-up valid
WM1 : Data back-up invalid
Caution : • When the setting is changed from “WM1” to “WM0”, it takes approximately
30 seconds for storing all data.
• Do not turn the power off while executing the command.
• If the power is turned off, memory error alarm may be given.
Caution : When “SI” is executed, all initialized parameters are stored to EEPROM even
“WM” command is set to invalid.
l “TS” or “?WM” reports the current setting.
— 12-37 —
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«
ZP
: Factory Use Only
Shipping set
: 1.00
Caution : • The parameter is for the automatic tuning function and is set at the factory.
• Do not change the setting.
• “TS” or “?ZP” command reports the current setting.
«
ZV
: Factory Use Only
Shipping set
: 1.4
Caution : • The parameter is for automatic tuning function and to be set at the factory
• Do not change the setting.
• “TS” or “?ZP” command reports the current setting.
— 12-38 —
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13. Maintenance
13.1. Precautions
l Back up Motor and Driver Unit
◊ We recommend to have a back up Motor and Driver Unit for unexpected shut down of
the system.
l Parameter and program back up
◊ For an unexpected shut down of the Driver Unit, all parameters and programs should be
recorded.
◊ For your convenience, the list of parameter and program is provided in the last page of this
manual.
l How to replace the Driver Unit.
◊ Standard ESA25 Driver Units are interchangeable with each other. It may be replaced
simply by inputting same parameter settings of old Driver Unit.
Following shows reference number of standard ESA25 Driver Unit.
• M-ESA-*****T25
• M-ESA-*****V25
(***** represents Motor number. The Driver Unit to be replaced must have same
number.)
l If your Driver Unit is not standard, refer to the specification documents for interchangeability.
l When replacing the Driver Unit, refer to “Appendix 4: How to Replace ESA25 Driver Unit.”
l ESA25 Driver Unit has EEP-ROM and does not need a battery for memory back up.
(Life of EEP-ROM : approximately 500 000 times of writing on and off.)
— 13-1 —
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13.2. Maintenance Check
13.2.1. Motor
l Since a Megatorque Motor does not have any parts which will wear out, a daily maintenance check
should be enough.
l The table below shows the maintenance check and intervals. The checking interval shown in the
table is reference only. It should be decided accordingly to the actual use conditions.
Caution : Do not disassemble the Motor and resolver. If disassembling Motor is
necessary, contact your local NSK representative.
Table 13-1 : Motor maintenance check
Item
Checking interval
Vibration/Noise Daily
Appearance
Insulation
Full check
How to check
Remarks
Touching and hearing
• Watch daily changes
Wipe off dust/slag
According to environment
–
Blow off slag
Resistance test
Once/year
(Motor coil and ground earth) • Resistance ≥ 10MΩ
(Disconnect Driver Unit)
According to Motor condition • Overhaul (NSK)
–
•
•
•
•
13.2.2. Driver Unit and Cable Set
l As a Driver Unit does not have any contact point and highly reliable semiconductors are used, the
daily check is not necessary. Checkings as shown in Table 13-2 are necessary at least once a year.
Table 13-2
Item
Retighten screws
Cleaning
Cable check
Interval
Check point
• Terminal block screw.
Once/year
• Connector fixing screw.
• Remove dust or contaminants
Once/year
inside of Driver Unit.
Once/year
• Check for damages and cracks
of cables.
Remarks
–
–
• When the cable is forced to bend or
twist, checking frequency should be
increased.
— 13-2 —
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13.3. Periodical Replacement of Parts
13.3.1. Motor
l There is no parts which is required to be replaced periodically.
l Refer to “13.2. Maintenance Check”.
13.3.2. Driver Unit
l Electrolytic condenser
◊ The gradual chemical change of electrolytic condensers will deteriorate system function
and it may result in the system failure.
Table 13-3
Parts
Function
Life
Electrolytic condenser
Equalize power voltage
10 years
How to replace
• Replace *PCB.
• Replace whole unit.
*PCB: Printed circuit boad
l Life of electrolytic condenser relies on the operating conditions. The 10 years of life is rough
estimation under continuous operation in normal room environment.
13.4. Storing
l Store the Motor and Driver Unit in clean and dry indoor condition.
l A Driver Unit has a lot of ventilation holes and should be covered properly to protect from dust.
Table 13-4
Storing condition
Temperature
-20°C ~ +70°C
Humidity
20% ~ 80%
Remarks
–
No condensation
— 13-3 —
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13.5. Warranty Period and Covering Range
13.5.1. Warranty Period
l The warranty period is one year from the date of delivery of the product or 2400 working hours
whichever comes first.
13.5.2. Range of Warranty
1)
The items to be warranted shall be the supplied products by NSK Ltd.
2)
The supplier will repair the supplied products free of charge within the warranty period.
3)
The supplied products will be repaired with cost and fees paid by the customer after the
warranty period.
13.5.3. Immunities
l The product is not warranted in one of the following cases even within the warranty period:
1)
Failure of the unit due to installation and operation not in accordance with the instruction
manual specified by the supplier.
2)
Failure of the unit due to improper handling and use, modification and careless handling by
the user.
3)
Failure of the unit due to the causes other than those attributable to the supplier.
4)
Failure of the unit due to modification or repair which is conducted by a person(s) or
party(ies) other than the supplier.
5)
Other types of failures due to natural disasters and accidents (causes not attributable to
the responsibility of the supplier).
6)
Designated consumables (fuses for ESA25 Driver Unit).
l Damages induced by a failure of the supplied unit are not covererd.
13.5.4. Service Fee
l NSK Ltd. reserves the right to charge to a user for the service such as dispatch of engineer(s).
l Startup, maintenance and adjusting of the unit under the supervision of our engineer(s) is a paid
service even if it is to be provided during the warranty period.
l Service fees shall be billed to the customer according to the rules on paid services.
— 13-4 —
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14. Alarm
14.1. Identifying Alarm
l The DRDY output opens when error occurs in ESA25 Driver Unit.
l 7-segemnt LED is provided on the front panel of the Driver Unit to identify the alarm. “TA”
command can be used to identify alarms.
14.1.1. LED Alarm Indicator
Figure 14-1
Green LED: Turns on when the power is turned on.
Normal : Green
Abnormal :Orange
7-segment LED display: Indicate the type of alarm.
• The alarm is normally indicated by a 2-digit code. Two
characters are displayed alternately at certain intervals.
• When two or more alarms are detected, their codes are
also indicated alternately at certain intervals.
Figure 14-2: Abnormal (example)
(Example) Excess position error F1 + Heat Sink Over-Temperature P0
Figure 14-3: The LED is indicating normal state.
— 14-1 —
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14.1.2. Using TA Command
l “TA” command is to display the alarm code on the Handy Terminal screen.
l In this case, the code is not displayed at different time as the LED display.
◊ Example
◊ Excess position error and heat sink overheat alarms will be displayed as shown in
Figure 14-4.
Figure 14-4: Alarm display
:TA
F1>Excess Position Error
P0>Over Heat
:_
F1: Excess position error
P0: Heat Sink Over heat or Regeneration Resistor Over Heat
[Example 1] Identify alarms as the warning lamp of ALARM is on.
1)
Confirm that the display of Handy Terminal shows the colon “ : .”
(If the colon “ : “ is not shown in the display, press the ENTER key once.)
:_
2)
Input TA command.
T
3)
:TA_
A
Press ENT key to exeute and the display identifies the alarm.
:TA
F1>Excess Position Error
:_
ENT
l Thus the alarm is identified as “Excess position error”.
— 14-2 —
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14.1.3. Alarm Code List
l Reports alarm status.
l No display is shown when any alarm is not issued.
l When an alarm is detected, the display identifies an alarm as shown in the table below.
Table 14-1: Alarm code list
Alarm
Memory error
EEPROM error
System error
Interface error
Analog command error
Excess Position error
Software Over Travel Limit
Hardware Over Travel Limit
Emergency Stop
Program error
Automatic Turing error
RS232C error
CPU error
Resolver Circuit error
Software Thermal Sensor
Velocity error over
Heat Sink Overheat or
Regeneration Resistor Overheat
Abnormal Main AC Line Voltage
Over Current
Control AC Line Under Voltage
7 segments
LED
E0
E2
E7
E8
E9
F1
F2
F3
F4
F5
F8
C2
C3
A0
A3
A4
Terminal Display
E0>Memory Error
E2>EEPROM Error
E7>System Error
E8>I/F Error
E9>ADC Error
F1>Excess Position Error
F2>Software Over Travel
F3>Hardware Over Travel
F4>Emergency Stop
F5>Program Error
F8>AT Error
C2>RS-232C Error
C3>CPU Error
A0>Resolver Circuit Error
A3>Overload
A4>RUN away
P0
P0>Over Heat
P1
P2
P3
P1>Main AC Line Trouble
P2>Over Current
P3>Control AC Line Under Voltage
l When two or more alarms are detected, each alarm is displayed on a separate line.
l Display mode set by “MM” parameter is valid.
l Display example (Emergency stop and hardware over travel limit alarm are detected in MM1
setting.)
:TA
F3>Hardware Over Travel;
F4>Emergency Stop;
:_
— 14-3 —
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14.2. Description of Alarm
Caution : The DRDY output is normally closed. It opens on abnormal condition.
14.2.1. Normal State
l When the Motor does not operate even in normal state, following causes are suspected.
Table 14-2
Status
Power-off
CPU Initializing
SVON Input OFF
Motor condition
Servo-OFF
Servo-OFF
Servo-OFF
DRDY
open
open
close
Cause
Power is not supplied.
Initializing the CPU.
SVON input is not active.
Remedy
Turn on power.
Wait for the CPU to be initialized.
Activate the SVON input.
14.2.2. Alarms Related to Power Amplifier
14.2.2.1. Heat Sink Overheat or Regeneration Resistor Overheat
[Output]
DRDY: Open
[TA]
P0 > Over Heat
[LED]
P0
[Motor Condition]
Servo-OFF
Table 14-3: Cause and Remedy: Overheat of heat sink and regeneration resistor.
Cause
(1) Duty cycles of the Motor is too high.
(2) Excessive load is applied.
Remedy
• Reduce the load and/or operation duty. Readjust
acceleration/deceleration.
(Stop operation, air-cool the Driver Unit.)
(3) Ambient temperature is above 50°C.
• Check surrounding condition of the Driver Unit.
(4) Heat sink temperature exceeds 90°C due to • Stop the operation and air-cool the Motor and Driver
continued heavy torque demand.
Unit. Then check followings.
◊ Whether the duty cycle is too high.
◊ Whether excessive load is applied.
◊ If the ambient temperature of the Driver Unit is
too high.
• If no troubles are found in the above check and this
alarm occurs frequently, contact NSK.
(5) Defective PCB.
• Replace Driver Unit.
(As soon as the control power is turned on,
◊ Standard ESA Driver --------------------[Appendix 4]
the alarm is activated.)
Note : 1) Stop operation immediately.
2) Even the alarm is deactivated, it will be activated again when the thermal sensor is still
on.
• Take enough time to air-cool the Motor and the Driver Unit.
— 14-4 —
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14.2.2.2. Abnormal Main AC Line Voltage
[Output]
DRDY: Open
[TA]
P1 > Main AC Line Trouble
[LED]
P1
[Motor Condition]
Servo-OFF
Table 14-4: Cause and Remedy: Abnormal main AC line voltage (Over/Under)
Cause
(1) Abnormal power supply voltage.
(2) ◊ Main circuit voltage is excessive due to high
acceleration/deceleration under heavy load.
◊ Defective power source gives over AC250V
to the main power supply for power amplifier
main circuit.
(3) Defective power source gives under AC70V to
power amplifier main circuit.
(4) Blown fuse.
(Motor over temperature, abnormal power
supply wiring, Driver Unit abnormal.)
(5) Excessive regeneration voltage.
Remedy
• Check main power supply.
(Excessive voltage, low voltage and power source
capacity.)
• Check fuse, power source and the cable, then turn
power on again.
• Check blown fuse.
• Check the fuse, power supply and cables, then turn
on power again.
• Readjust operation duty, the load and
acceleration/deceleration.
(6) Defective PCB.
• Replace Driver Unit.
(When the alarm is on after the Motor stops
◊ Standard ESA Driver ----------- [Appendix 4]
even power source and fuse are normal.)
Note : 1) When the regeneration dump resistor cannot process regenerative current, the voltage
of direct current to main circuit will be too high and the alarm will be on.
2) Decrease acceleration/deceleration.
14.2.2.3. Over Current
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
P2 > Over Current
P2
Servo-OFF
Table 14-5: Cause and Remedy: Over current
Cause
(1) Poor insulation of the Motor.
(Refer to “Appendix 2. How to Check Motor
Condition.”)
(2) Defective Motor Cable.
(Refer to “Appendix 2. How to Check Motor
Condition.”)
(3) Defective FET of Power Amplifier.
(When the alarm is on even the Motor and
Motor cable are normal.)
Remedy
• Replace Motor.
• Replace Cable.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
Note : The alarm may be accompanied with abnormal main AC line voltage (blown fuse) alarm due
to excessive current flow.
— 14-5 —
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14.2.2.4. Control AC Line Under-Voltage
[Output]
DRDY: Open
[TA]
P3 > Control AC Line Under Voltage
[LED]
P3
[Motor Condition]
Servo-OFF
Table 14-6: Cause and Remedy: Control AC line under-voltage
Cause
(1) Low voltage of control power input.
Remedy
• Check control power voltage.
(Low voltage due to over current or output shorting.)
(2) Control circuit voltage for the power amplifier • Turn off power, check the power supply and power
falls below 70V due to faulty power supply.
cable, then turn on power again.
(3) Faulty PCB.
• Replace Driver Unit.
(When the alarm is on after control power is
◊ Standard ESA Driver --------------------[Appendix 4]
turned on.)
— 14-6 —
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14.2.3. Alarms Related to Motor
14.2.3.1. Resolver Circuit Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
A0 > Resolver Circuit Error
A0
Servo-OFF
Table 14-7: Cause and Remedy: Resolver circuit error
Cause
(1) Resolver cable disconnected.
(Refer to “Appendix 2. How to Check Motor
Condition.”)
(2) Breakage of resolver cable.
(Refer to “Appendix 2. How to Check Motor
Condition.”)
(3) Faulty resolver.
(Refer to “Appendix 2. How to Check Motor
Condition.”)
(4) Faulty PCB.
(When the alarm is on even the resolver and
the cable are normal and the connector is
properly secured.)
Remedy
• Turn off power, check the resolver cable and
connector.
• Replace resolver cable.
• Replace Motor.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
Note : 1) Check the resolver cable for disconnection and short of wires.
2) Check the connector for contact failure.
3) When the resolver Cable is forced to bend repeatedly, the bending radius and frequency
will affect on the life of the cable. It is necessary to check a insulation and continuity of
the cable periodically.
4) When an excessive current applied to the resolver, which is induced by internal contact
or collision of Motor (rotor and stator), the fuse protecting the exciting circuit of resolver
may blow out. Replace of Motor and Driver Unit is required in such a case.
14.2.3.2. Software Thermal Sensor
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
A3 > Overload
A3
Servo-OFF
Table 14-8: Cause and Remedy: Overload
Cause
(1) Excessive Motor duty cycle.
(2) Mechanical restraint to the Motor such as
brake or an obstacle.
(3) Improper gain setting.
Remedy
• Reduce duty cycle and the load. Re-adjust
acceleration/deceleration.
• The Motor is overheated and air-cooling is
necessary after the Motor stops. Then turn on
power.
(After stopping operation, keep control power on.)
• Remove mechanical restraint.
• Readjust gain.
(Refer to “8. Tuning and Trial Running.”)
(4) Unmatched combination of Motor and Driver • Check the combination.
Unit.
(Reference number of Motor and Driver Unit.)
Note : Do not change a parameter “OL” setting. It is properly set before shipment.
— 14-7 —
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14.2.3.3. Velocity Error Over
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
A4> Run away
A4
Servo OFF
Table 14-9: Cause and remedy: Run away
Cause
Remedy
(1) Velocity of Motor has reached to the limit due Clear the alarm.
to external disturbance.
(2) Velocity of Motor has reached to the limit due • Reduce setting of acceleration rate.
to overshooting.
• Reduce rotational speed.
(3) Motor tends to vibrate due to poor servo
Tune Motor properly.
tuning.
(4) Motor runs away. (out-of-control)
• Confirm the PA data for abnormality.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
— 14-8 —
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14.2.4. Alarms Related to Control
14.2.4.1. Memory Error
[Output]
[TA]
[LED]
[Motion Condition]
DRDY: Open
E0 > Memory Error
E0
Servo-OFF
Table 14-10: Cause and Remedy: Memory error
Cause
Remedy
(1) Parameters stored in the memory have been • Initialize the memory then reenter the parameters.
rewritten by noise or other cause.
(Refer to “12. Command and Parameter.”)
(2) Faulty PCB.
• Replace Driver Unit.
(When the memory is not functioning after
◊ Standard ESA Driver --------------------[Appendix 4]
initialized.)
◊ Command “SI” (RS-232C communication) initializes the memory. After initializing, some
parameters are reset to shipping set. Resetting parameters to actual use condition are
necessary.
14.2.4.2. EEPROM Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
E2 > EEPROM Error
E2
Servo-OFF
Table 14-11: Cause and Remedy: EEPROM error
Cause
(1) Faulty EEPROM of control circuit.
14.2.4.3. System Error
[Output]
[TA]
[LED]
[Motor Condition]
Remedy
• Turn the power on again.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
DRDY: Open
E7>System Error
E7
Servo-OFF
Table 14-12: Cause and Remedy: System Error
Cause
(1) Faulty ROM on PCB.
(2) Faulty EEPROM on PVB.
Remedy
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
— 14-9 —
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14.2.4.4. CPU Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
Disabled
Unstable
Servo-OFF
Table 14-13: Cause and Remedy: CPU error
Cause
(1) CPU is out of control due to noise.
Remedy
• Turn power on again.
• The alarm is deactivated when the power is turned on
again. If the alarm occurs frequently, contact NSK.
(2) Faulty PCB.
• Replace Driver Unit.
(When the alarm is not deactivated after the
◊ Standard ESA Driver --------------------[Appendix 4]
power is turned on.)
Note : 1) RS-232C communication and other controls are disabled because CPU is not
functioning.
2) Contact NSK if the alarm occurred.
14.2.4.5. Interface Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
E8 > I/F Error
E8
Servo-OFF
Table 14-14: Cause and Remedy: Interface error
Cause
(1) Defective I/O Board in Driver Unit
14.2.4.6. Analog Command Error
[Output]
[TA]
[Motor Condition]
Remedy
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
DRDY: Open
E9 > ADC Error
Servo-OFF
Table 14-15: Cause and Remedy: Analog command error
Cause
(1) Defective circuit of analog command input
Remedy
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
— 14-10 —
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14.2.4.7. Excess Position Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Open
F1 > Excess Position Error
F1
Servo Lock
Table 14-16: Cause and Remedy: Excess position error
Cause
(1) Position error counter value is over “CO”
setting due to mechanical restraint such as
brake.
(2) Improper gain setting.
Remedy
• Remove mechanical restraint.
• Readjust gain.
(Refer to “8. Tuning and Trial Running.”)
(3) Excessive acceleration/deceleration.
• Decrease acceleration/deceleration.
(4) “CO” setting is too low.
• Increase “CO” setting.
• Activate the “CLR” input to cancel alarm, then
position error counter is cleared to 0 (Zero).
• Adjust servo parameters (VG, VI, PG).
• Adjust acceleration/deceleration (MA).
• Check the applied load.
(5) Unmatched combination of Motor and Driver • Check reference number of Motor and Driver Unit.
Unit.
(6) Improper “PA” setting.
• Set “PA” to 700.
(7) Faulty PCB.
• Replace Driver Unit.
(When the alarm is on even “RUN” command
◊ Standard ESA Driver --------------------[Appendix 4]
is not executed.)
14.2.4.8. Software Over Travel Limit
[Output]
DRDY: Open
[TA]
F2 > Software Over Travel
[LED]
F2
[Motor Condition]
Servo Lock in one direction.
(The Motor will only rotate in a direction opposite to that of the rotation
limit.)
Table 14-17: Cause and Remedy: Software over travel
Cause
Remedy
(1) The Motor enters the off-limit area set by OTP • Put back Motor position in software over travel limit.
and OTM
• Get out of off-limit area.
Note : If the Motor cannot make a full turn due to obstacle or off-limits area, “OTM and OTP”
must be set to the point where the Motor can stop before entering off-limit area.
— 14-11 —
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14.2.4.9. Hardware Over Travel Limit
[Output]
DRDY: Open
[TA]
F3 > Hardware Over Travel
[LED]
F3
[Motor Condition]
Servo Lock in one direction.
(The Motor will only rotate in the direction opposite to that of the
rotation limit.)
Table 14-18: Cause and Remedy: Software over travel
Cause
(1) Motor activated travel limit switch.
(2) Mistaken setting of input port polarity.
(3) Faulty travel limit switch or wiring.
14.2.4.10. Emergency Stop
[Output]
[TA]
[LED]
[Motor Condition]
Remedy
• Put back Motor position out of the range of hardware
over travel limit.
• Confirm the parameter “AB.”
• Check the limit switch and wiring.
DRDY: Closed
F4 > Emergency Stop
F4
Servo Lock
Table 14-19: Cause and Remedy: Emergency stop
Cause
(1) Mistaken setting of input port polarity.
(2) EMST is input. (A contact)
(3) EMST is OFF. (B contact)
(4) Faulty wiring.
14.2.4.11. Program Error
[Output]
[TA]
[LED]
[Motor Condition]
•
•
•
•
Remedy
Confirm the parameter “AB.”
Clear EMST input after the Motor stops.
Input EMST ON after the Motor stops.
Check wiring.
DRDY: Closed
F5 > Program Error
F5
Servo Lock
Table 14-20: Cause and Remedy: Program error
Cause
(1) A non-programmed channel is started.
Remedy
• Check the program.
• Check wiring of PRG0~PRG5 input.
• Confirm sequence.
— 14-12 —
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14.2.4.12. Automatic Tuning Error
[Output]
[TA]
[LED]
[Motor Condition]
DRDY: Closed
F8 > AT Error
F8
Normal Servo State
Table 14-21: Cause and Remedy: Automatic tuning error
Cause
(1) System is in Servo-OFF when executing
automatic tuning.
(2) EMST or Over Travel Limit is input when
executing automatic tuning.
(3) Automatic tuning cannot be executed due to
unbalanced load.
(4) Automatic tuning cannot be executed due to
excessive load.
(5) Resonant vibration occurs due to low rigidity
of the load or the mounting base.
Remedy
• Check input signal and execute
automatic tuning again.
Terminal display
AT Error 1
• Check the load condition.
• Set parameters manually.
• Check the load or the mounting
base. Increase rigidity.
• Set parameters manually.
AT Error 2
AT Error 3
AT Error 4
14.2.4.13. RS-232C Error
u When parameter is SE “0,”
[Output]
DRDY: Close
[TA]
C2>RS232C Error
[LED]
C2
[Motor condition]
Normal
u When parameter is SE “1,”
[output]
DRDY: Open
[TA]
C2>RS232C Error
[LED]
C2
[Motor condition]
Servo lock
Table 14-22: Cause and remedy: RS-232C error
Cause
(1) Connect or disconnect the communication
cable with power on.
(2) Attempted to transmit large volume of data
without the flow control by CTS or RTS
command.
(3) Wrong Baud rate is set to the terminal.
(4) Defective RS-232C communication.
Remedy
• Connect or disconnect the communication cable
when the power is off.
• Wire CTS and RTS signal and apply the flow control.
• Set Baud rate to 9 600 bps.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
Note : 1) Parameter SE can set DRDY output and condition of Motor servo when RS-232C
communication is abnormal. Refer to “12. Command and Parameter.”
2) RS-232C error may be cleared by input of CLR or CL command.
— 14-13 —
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14.2.4.14. CPU Error
[Output]
[TA]
[LED]
[Motor condition]
DRDY: Open
C3>CPU Error
C3
Servo-OFF
Table 14-23: Cause and remedy: CPU error
Cause
(1) A wrong program is called due to noise.
(2) Memory is defective.
(3) CPU is defective.
Remedy
• Apply the remedy for noise.
• Change Driver Unit.
• Replace Driver Unit.
◊ Standard ESA Driver --------------------[Appendix 4]
— 14-14 —
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14.2.5. History of Alarm
l Store the occurrence of alarms to EEPROM.
l It keeps the record of alarms up to 32nd before.
l It does not overwrite more than 32nd alarm. Clear the alarm history to keep the record for new
alarms.
l This history records the alarm which makes the DRDY output open.
l Contents of record are as follow.
(i)
Alarm code that is shown on LED.
(ii)
Details of alarm for failure analysis of the manufacturer.
(iii)
The number of times the power is turned on.
Caution : History of alarm may not be stored properly when the power is shut off right
after the alarm is reported.
14.2.5.1. Indication of History of Alarm
(1)
Input TA command. Press SP key to scroll next line.
T
A
SP
···
/
H
I
ENT
Old
:TA/HI
now time=8
0>F1-0, 1;
1>F1-0, 4;
2>F1-0, 4;
3>F1-0, 4;
4>A1-0, 4;
:_
The current number of
times for turning on power.
The number of times for
turning on power when the
alarm is reported.
Details of alarm.
Alarm code.
Number of alarm.
14.2.5.2. Clear History of Alarm
(1)
(2)
Input password.
/
N
S
O
N
ENT
K
SP
C
L
:/NSK ON
NSK ON
:_
Input TA command.
T
A
/
ENT
:/NSK ON
NSK ON
:TA/CL
:_
— 14-15 —
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(Blank Page)
— 14-16 —
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15. Troubleshooting
15.1. Identifying Problem
l If problems do occur, check the items shown in Table 15-1.
l When reporting problems to the manufacturer, explanation of the items in Table 15-1 will help to
identify the problem.
Table 15-1
Items
1
Combination of Motor and Driver Unit
2
3
Power supply voltage
Trouble recurrence
4
Occurrence in special occasion
5
Occurrence under a particular operation
6
Alarm Code
Point to be checked
• Check if the Motor series code, Motor size number
and the Maximum torque conform to the indication of
the nameplates of the Motor and the Driver Unit.
Refer to “6.2. Combination of Motor and Driver Unit”
for details.
• Voltage variation of power source is in specification.
• Frequency
• When a particular command is executed.
• A particular equipment is in operation.
• Same position/direction
• Accelerating/decelerating
• Check alarm code by TA command.
(Refer to “14.1.2. Using TA Command.”)
— 15-1 —
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15.2. Troubleshooting
l When troubleshooting, refer to the flow chart shown below.
Figure 15-1 : Troubleshooting flow
START
Alarm?
NO
YES
Refer to“14. Alarm.”
Which of the following areas does
the problem fall under?
Power ( → 15.2.1.) *
l Power is not turned on.
Motor ( → 15.2.2.) *
l Motor servo is not turned on.
l Motor does not run in a stable manner.
(Motor vibrates or runs away.)
NO
Command ( → 15.2.3.) *
l Home Return command causes no motion.
l Motor does not stop in Home Return.
(Motor reaches near-zero velocity immediately.)
l Home Return command fails to stop Motor in position.
l RUN input does not start Motor.
l Pulse train input does not run Motor.
Terminal ( → 15.2.4.) *
l Communication is disabled.
Check the condition,
then contact our sales agent.
YES
Refer to corresponding sections in this chapter.
* : ( → ×××) indicates what chapter to be referred.
— 15-2 —
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15.2.1. Power Trouble
Power is not turned on.
Figure 15-2 : Power trouble
Power is not turned on.
Check the terminal block of the front panel of Driver Unit
for main power and control power with a tester, etc.
Both control power and
main power supplied?
NO
Turn on power.
YES
Connect Handy Terminal.
Communication enable?
NO
Replace Driver Unit.
YES
OK
— 15-3 —
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15.2.2. Motor Trouble
1 Motor servo is not turned on.
Figure 15-3 : Motor trouble 1
Motor servo is not turned on.
Make sure the combination of Motor
and Driver Unit is proper.
Alarm is on after the
power is turned on.
YES
Refer to “14.2. Details of Alarm.”
NO
Input servo-on command.
S
V
ENT
Connect Handy Terminal and
execute IO0 command.
I
O
0?
Is SVON signal is input?
(Does the display show “1” on the
lefthand side?)
NO
ENT
Turn on SVON input.
:IO0
ABCEFGHIJKLM
10000000/1110
YES
TL100?
NO
Set TL100.
T
YES
Servo parameters
already adjusted?
NO
L
1# 0?
0?
ENT
Adjust parameters.
(Refer to “8. Tuning and Trial Running.”)
YES
(Refer to “Appendix 1 : How to Check Motor Condition.”)
Check Motor and resolver wirings.
Is Motor normal?
NO
Replace Motor.
YES
Contact NSK representative in your area.
— 15-4 —
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2 Motor does not run stably. / Motor vibrates or goes out of control.
Figure 15-4 : Motor trouble 2
Motor does not run stably.
Motor vibrates or goes out of control.
Make sure the combination of Motor and
Driver Unit is proper.
Motor installed properly?
Load connected securely?
(No backlash allowed.)
NO
Install properly.
YES
Servo parameters already
adjusted?
NO
Adjust parameters.
(Refer to “8. Tuning and Trial Running.”)
YES
Decrease VG value.
(Refer to “9. Operational functions.”)
Filter used?
Check Motor and resolver windings.
Motor runs stably.
(Refer to “Appendix 1 : How to Check Motor Condition.”)
NO
Contact NSK representative in your area.
YES
End.
— 15-5 —
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15.2.3. Command Trouble
1 Home Return command causes no motion
Figure 15-5 : Command trouble 1
Note 1
Home Return command causes no motion.
Verify IO state with IO command.
Refer to “9.1.10.2. Monitoring the I/O state.”
Make sure the combination of Motor and
Driver Unit is proper.
YES
Alarm is activated after the
power is turned on.
Refer to “14.2. Details of Alarm.”
NO
NO
Motor servo is active.
Refer to Figure 15-4: Motor trouble 2.
YES
Note 1
EMST, OTP or OTM
input is active.
YES
Deactivate EMST, OTM or OTP input.
NO
Home Return starts
with HOS input.
YES
NO
HS command is set to the
program in a channel to start
Home Return.
NO
Note 1
YES
NO
Confirm if HS command is
programmed in the channel.
HOS input can be
switched ON from
OFF.
YES
Note 1
Inputs of channel
selection (PRG0 ~ PRG5 inputs)
and control (RUN input) are
properly executed.
NO
YES
Can HS command
start Home Return?
NO
NO
Home Return starts
with HS command.
YES
Home Return can
not be executed.
YES
Can HS command start
Home Return?
NO
YES
Check CN2 connector wiring.
Check winding of Motor and Resolver.
Refer to “Appendix 1 : How to Check Motor Condition.”
NO
Is Motor normal?
Replace Motor.
YES
Contact NSK representative in your area.
— 15-6 —
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2 Motor does not stop in Home Return.
Figure 15-6 : Command trouble 2
Motor does not stop in Home Return.
Note 1
Is “HLS” input
properly activated?
NO
Check for the Home position limit switch
and its wiring.
YES
Note 1
Verify IO state with IO command.
Refer to “9.1.10.2. Monitoring the I/O state”.
Verify “HO” value.
3 Home Return command fails to stop Motor in position.
Figure 15-7 : Command trouble 3
Home Return command fails to stop Motor in position.
Refer to “10.2.1.2. Adjusting Home Limit Switch and Home Offset value.”
— 15-7 —
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4 Run input does not start Motor.
Figure 15-8 : Command trouble 4
Run input does not start Motor.
Make sure combination of Motor
and Driver Unit is proper.
Alarm is on after the
power is turned on.
YES
Refer to “14.2. Details of Alarm.”
NO
NO
Motor servo is activated.
Refer to Figure 15-4: Motor trouble 2.
YES
EMST, OTP or OTM
input is active.
YES
Deactivate EMST, OTP or OTM input.
NO
Check CN2 connector wiring.
NO
Make sure RUN command is set
to channel program.
Inputs of channel selection
(PRG0 ~ PRG5 inputs) and control
(RUN input)are properly
executed.
YES
YES
Can “SP” command
start Motor?
NO
Check windings of Motor
and Resolver.
Refer to “Appendix 2 : How to Check Motor Condition.”
NO
Is Motor normal?
Replace Motor.
YES
Contact NSK representative in your area.
— 15-8 —
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5 Pulse train input does not run Motor.
Figure 15-9 : Command trouble 5
Pulse train input does not run Motor.
Make sure combination of Motor
and Driver Unit is proper.
Alarm is on after
power is turned on.
YES
Refer to “14.2. Details of Alarm.”
NO
NO
Motor servo is activated.
Refer to Figure 15-4: Motor trouble 2.
YES
YES
EMST, OTP or OTM
input is active.
Deactivate EMST, OTP or OTM input.
NO
Check CN2 connector wiring.
Check windings of Motor and
Resolver.
Is Motor normal?
Refer to “Appendix 2 : How to Check Motor Condition.”
NO
Replace Motor.
YES
Contact NSK representative in your area.
— 15-9 —
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15.2.4. Terminal Trouble
Communication is disabled.
Figure 15-10 : Terminal trouble
Communication is disabled.
(Improper characters are displayed.)
Check CN1 connector wiring.
Check Driver Unit control power.
Check frame ground.
Baud rate setting of Driver Unit and terminal are different.
(Shipping set of the baud rate for the Driver Unit and the
Handy Terminal FHT11 is 9600 b.p.s.)
— 15-10 —
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Appendix 1: Verify Input / Output Signal
IO: Status of Input / Output Signal
l IO command monitors status of CN2 and CN5 Input / Output signal.
l This command may be used for checking the wiring.
◊ Input format
IO0 / RP
IO2 / RP
IO3 / RP
No / RP
With / RP
: Indication of I/O signal status.
: Indication of I/O related to programmed operation.
: Indication of I/O related to Jog operation.
: Indicates only once.
: Indicates in real time basis.
Figure A-1: Indication format (IO0 / RP: Indication of I/O signal status)
A B C D E F G H
? ? ? ? ? ? ? ?
I J K L M
/ ? ? ? ?
Pin number
Signal name
CN5_21(1)
HOME output
CN2_14
IPOS output
CN2_3
BRK output
CN2_15(2)
DRDY output
CN2_9
OTP
CN2_22
OTM
CN2_10
CLR
CN2_23
HOS
CN2_11
HLS
CN2_24
IOFF
CN2_12
EMST
CN2_25
SVON
— A-1 —
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IO0 command reports the state of circuit in regard to input signal.
IO1 command reports the state of execution of the function in regard to input signal.
Figure A-2
(1)
Input signal
EMST
(2)
Activated
Inactivated
Exp.1) Normal Open
Close
Open
Exp.2) Normal Close
Close
Open
Parameter AB
Exp.1 ) EMST input setting : Normal open (ABX0XXXXXX)
IO0 and IO1 report same state as shown in Table A-1 at the timing (1) and (2) in Figure A-2.
Table A-1
Timing
IO command
IO0
(1)
IO1
IO0
(2)
IO1
Report
ABCDEFGHIJK
∗0∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗0∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗1∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗1∗∗∗∗∗∗/∗∗∗∗
Exp.2 ) EMST input setting : Normal close (ABX1XXXXXX)
IO0 and IO1 report opposite state as shown in Table A-2 at the timing (1) and (2) in Figure A-2.
Table A-2
Timing
IO command
IO0
(1)
IO1
IO0
(2)
IO1
Report
ABCDEFGHIJK
∗0∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗1∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗1∗∗∗∗∗∗/∗∗∗∗
ABCDEFGHIJK
∗0∗∗∗∗∗∗/∗∗∗∗
— A-2 —
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Figure A-3: Indication format (IO2 / RP: Indication of I/O relate4d to programmed operation)
A B C D E F G H I J K L M N
∗ ∗ ∗ ∗ ∗ ∗ ∗ 0 0 0 / ∗ 0 0
Pin number
Signal name
Reserved
Reserved
Reserved
Reserved
CN2_14
IPOS output
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
CN5_17
RUN
CN5_11
PRG0
CN5_12
PRG1
CN5_13
PRG2
CN5_14
PRG3
CN5_15
PRG4
CN5_16
PRG5
Figure A-4: Indication format (IO3 / RP: Indication of I/O related to Jog operation)
A B C D E F G H I J K L M N
∗ ∗ 0 0 0 0 0 / 0 0 0 0 0 0
Pin number
Signal name
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
CN5_31
DIR
CN5_30
JOG
— A-3 —
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[Example] Verify the start command of channel program “RUN” is on.
1)
Confirm that the displa y of Handy Terminal indicates the colon ( : ).
(If the display does not show the colon press ENT key once.)
:_
2)
I
O
2#
/
R
P
:IO2_
3)
4)
:IO2/RP_
Press ENT key for execution. Indication starts immediately after the input.
:IO2/RP
0000001000/000
ENT
RUN
5)
Press BS key to discontinue the readout. Otherwise you cannot enter next command.
:IO2/RP
0000001000/000
:_
BS
[Discription]
l Above example shows that the readout of RUN input is “1,” which indicates “RUN” input is on.
◊ In case of the above example, the status of Input / Output signal are monitored and
indicated until BS key is pressed.
◊ On and Off of the Input / Output signals will be followed during the readout by changing
in “1” to “0” or the other way.
◊ However, if inputting / RP is omitted in procedure 3) in the above example, I/O status will
be indicated only once just after ENT key is pressed.
— A-4 —
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Appendix 2 : How to Check Motor Condition
l Examine resistance and isolation of Motor windings to find out its condition.
l Firstly conduct the checks with the Cable Set. If the result does not meet the specification, check
the Motor only.
1 Resistance of Motor windings
Figure A-5: With Cable Set
Connector Lock
7
4
Motor Cable
3
Ω
(Tester)
6
2
5
1
Resolver Cable
l Refer to Table A-3 for pin numbers to be checked.
Figure A-6: Motor only
(Connector Lock)
Ω
1 2 3 4 5
6 7 8 9 10
11 12 13 14 15
(Tester)
l Refer to Table A-3 for pin numbers to be checked.
Table A-3 : Pin number to be checked.
Phase A
Phase B
Phase C
Cable connector
1 ↔ 2
(A+)
(A-)
3 ↔ 4
(B+)
(B-)
5 ↔ 6
(C+)
(C-)
Motor connector
5 ↔ 4
(A+)
(A-)
10 ↔ 9
(B+)
(B-)
15 ↔ 14
(C+)
(C-)
Result
— A-5 —
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Table A-4: Specification of Motor resistance
Motor number
YS2005
YS2020
YS3008
YS3040
YS4080
YS5120
YS5240
JS0002
JS1003
JS2006
JS2014
Motor winding resistance (Ω)
Specification
35.0
1. Allowance
2. Variations between each phase
4.5
(øA, øB, øC)
47.0
6.4
5.2
3.5
6.4
9.6
15.4
9.2
14.6
: ±30%
: 1.0Ω or less
l For special Motor windings or long cable (over 4m), contact NSK for specification.
2 Resistance of resolver windings
Figure A-7: With cable set
Motor Cable
15 14 13 12 11 10 9
Ω
8
7
6
5
4
3
2
1
Resolver Cable
(Tester)
l Refer to Table A-5 for pin numbers to be checked.
Figure A-8: Resolver only
(Connector Lock)
Ω
1 2 3 4 5
6 7 8 9 10
11 12 13 14 15
(Tester)
l Refer to Table A-5 for pin numbers to be checked.
Table A-5: Pin number to be checked for incremental resolver
REA
REB
REC
Cable connector
8 ↔ 4
(REA) (COM)
7 ↔ 4
(REB) (COM)
15 ↔ 4
(REC) (COM)
Motor connector
1 ↔ 2
(REA) (COM)
6 ↔ 2
(REB) (COM)
11 ↔ 2
(REC) (COM)
Result
— A-6 —
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Table A-6: Specifications of resolver resistance
Motor number
YS2005
YS2020
YS3008
YS3040
YS4080
YS5120
YS5240
JS0002
JS1003
JS2006
JS2014
Motor winding resistance (Ω)
Specification
3.8
1. Allowance
3.8
2. Variations between each phase
3.7
(øA, øB, øC)
3.7
2.8
2.6
2.6
2.3
2.6
3.9
3.8
: ±30%
: 1.0Ω or less
l For special Motor windings or long cable (over 4m), contact NSK for specification.
Figure A-9: Resolver wiring (For your reference)
D-Sub Connector
Motor Connector
8
1
REA (Red)
7
REB (White)
15
REC (Black)
4
6
Phase A
Phase B
Common
11
2
Phase C
Common (Green)
10
FG (Shielded)
— A-7 —
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3 Insulation resistance of Motor winding
Caution : Disconnect the Motor from the Driver Unit when checking insulation
resistance of Motor winding.
Caution : Do not apply more than 500 DCV.
Figure A-10: With Cable Set
Connector Lock
7
4
Motor Cable
3
MΩ
500V Mega
6
2
5
1
Resolver Cable
(Megohmmeter)
Figure A-11: Motor only
Connector Lock
1 2 3 4 5
6 7 8 9 10
11 12 13 14 15
MΩ
500V Mega
(Megohmmeter)
Table A-7: Pins to be checked
Phase A–FG
Phase B–FG
Phase C–FG
Phase A–B
Phase B–C
Phase C–A
Cable connector
1 ↔ 7
(A+)
(FG)
3 ↔ 7
(B+)
(FG)
↔
5
7
(C+)
(FG)
1 ↔ 3
(A+)
(B+)
3 ↔ 5
(B+)
(C+)
5 ↔ 1
(C+)
(A+)
Motor connector
5 ↔ 13
(A+)
(FG)
10 ↔ 13
(B+)
(FG)
↔
15
13
(C+)
(FG)
5 ↔ 10
(A+)
(B+)
10 ↔ 15
(B+)
(C+)
15 ↔ 5
(C+)
(A+)
Table A-8: Specification (For all Motor series)
With cable
Motor only
Specification
1MΩ minimum
2MΩ minimum
4 Motor and cables appearance check
l Check for Motor damage.
l Check for cable insulation.
— A-8 —
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Appendix 3 : Initializing Driver Unit
l When troubleshooting or replacing a Motor or a Driver Unit, you may need to initialize the Driver
Unit. In such a case, follow the procedures described hereunder.
l Initialization of the Driver Unit requires three steps as shown in Figure A-12.
l Use Handy Terminal FHT11 for inputting command.
Figure A-12
(1) Note down parameter settings and channel programs.
(2) Initialize the Driver Unit with “SI” command.
(3) Input the parameters and programs again.
Explanations
1 Read out parameter settings and channel programs and note down them. Especially
“PA” and “RO” data are important for ESA Driver Unit for absolute position resolver.
1)
Connect the Handy Terminal FHT11 to CN1 connector of Driver Unit and turn on the power.
↓
2)
Monitor the parameters with “TS0” command.
Internal program may be monitored by “TC data” command.
↓
3)
After monitoring, turn the power off.
— A-9 —
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2 Initialize Driver Unit.
1)
Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit.
↓
2)
Turn on the control power only.
↓
3)
Input the password. When the colon “:” is displayed,
Press
/
N
S
K
O
SP
N
ENT .
↓
4)
Driver Unit echoes back “NSK ON.”
↓
5)
Input “SI/SY” command.
Press
S
I
/
S
Y
.
↓
6)
Driver Unit echoes back “INITIALIZE.” A colon “:” will be displayed to indicate completion of
initializing.
3 Input the noted parameter settings and channel programs.
1)
Firstly set “PA” parameter.
l Input the password.
/
N
S
K SP
Press
Driver Unit echoes back “NSK ON.”
O
N
ENT .
↓
2)
∗
∗ ENT
A
Press P
(** must be the same data as noted.)
↓
3)
Set other parameters and programs accordingly.
↓
4)
Make sure that all parameters and programs are set properly.
↓
Monitor the settings with “TS0” and “TC data” commands.
↓
5)
Turn off the power.
— A-10 —
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Appendix 4 : How to Replace ESA25 Driver Unit
Danger : Make sure the power is turned off when replacing ESA25 Driver Unit.
l In the reference number of ESA25 Driver Unit, second digit from the last denotes whether it is
interchangeable or not.
Figure A-13
M-ESA-Y3040T 2 5
1 : Not interchangeable
2 : Interchangeable (Standard)
F : Special
l For interchangeable (standard) Driver Unit, replace with the Driver Unit which has the same
reference number. Set the same parameters to new Driver Unit.
l When replacing Driver Unit which is not interchangeable, the compensation ROM of the old Driver
Unit must be transferred to the new Driver Unit. When transferring the ROM, the Driver Unit must
be disassembled. To disassemble Driver Unit, follow the procedures described hereafter.
◊ For a special Driver Unit, contact your local NSK representative.
◊ Before replacing the Driver Unit, record all parameters and channel programs. The
record list is provided in the last page of this manual.
◊ Especially, following items shall be recorded.
• PA, VG, VI, PG, CO, MA, MV, and HO
• Programs and other settings in channels.
◊ When replacing Driver Unit, following tools and Handy Terminal FHT11 are necessary.
1) A screwdriver (cross recessed, 4mm)
2) A ROM remover
— A-11 —
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Dissemble ESA25 Driver Unit
1 Remove side panel.
Figure A-14
— A-12 —
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Figure A-15
— A-13 —
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2 Remove the compensation ROM (U101) from CB board of old Driver Unit.
(Use a ROM remover.)
Figure A-16
U2
J3
Front side
U102
Figure A-17
U102
Socket
CB board
3 Insert the ROM to new Driver Unit commutation board.
l Be careful of the orientation of the ROM. Make sure the ROM is securely set to the socket.
Caution : When the version of two Driver Units are different, take a special care as the
orientation of IC differs in Version 11 and 21.
Figure A-18
ROM
Be careful not
to break pins.
Socket
Figure A-19
ROM
Wrong
Right position
Socket
— A-14 —
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4 Assemble the extend board removed from old Driver Unit to the new Driver Unit.
Figure A-20
— A-15 —
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Figure A-21
— A-16 —
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5 After replacing the compensation ROM, initialize new Driver Unit.
1)
Connect Handy Terminal FHT11 to CN1 connector.
2)
Turn on the control power only.
(Control power input ports are indicated as “CONT” on the terminal block.)
◊ If the main and control power cannot be turned on and off separately, disconnect CN2
connector. If CN2 connector is not disconnected, the parameters cannot be input properly
and the Motor may run away. (Make sure that CN2 connector is disconnected.)
3)
When control power is turned on, Handy Terminal displays “NSK MEGATORQUE···”.
◊ After the display shows a colon “:”, input
/
N
S
K
SP
O
I
/
S
Y
ENT
N
ENT
and
S
Initialization will take about 30 seconds.
4)
After the display shows a colon “:”, log in all parameters and channel program referring the
recorded data and settings.
— A-17 —
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Appendix 5 : Regeneration Dump Resistor
l Megatorque Motor will function as a generator in the following conditions. This phenomenon is
called regeneration.
◊ When decelerating under heavy inertia.
◊ When the Motor axis is horizontal, weight of an unbalanced load attached to the rotor
gives torque load to the Motor.
l Energy generated by the motor will be charged to the main power circuit condenser. If energy is
more than the capacity of the condenser, a dump resistor of the Driver Unit will dissipate overflown
energy.
l However, when the regeneration occurs frequently, the dump register will be overheated due to its
limited capacity. Eventually over-heat alarm will be on and Motor will stop.
* Dump resistor capacity is about 2.5W.
l When an over-heat alarm is detected, following remedies should be taken.
◊ Reduce duty cycle
◊ Decrease acceleration/deceleration.
◊ Lower operation speed.
l If above measures are not feasible, an optional high capacity regenerative dump register is available
from NSK. It will dissipate regeneration energy without loosing speed of Megatorque Motor.
— A-18 —
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Appendix 6: Brake Built in YS Series Motor
1. Specifications
Table A-9
Motor type
YS2020
YS3040
YS4080
YS5120
Brake type
RNB2K
RNB4K
RNB8K
RNB12K
Staic friction torque (N·m)
20
40
80
120
Rated voltage
Insulation class
Overexertion
Friction material
: DC90V
: B grade
: DC180V, 0.35 sec
: None-asbestos
Capacity (W)
17
23
30
33
Coil resistance (Ω)
477
352
270
245
l The RNB brake comprises 12 parts as shown in Figures A-32 ~A-35.
l The armature assembly ( 3 ) is fixed with bolts ( 5 ) and ( 10 ) through the plate spring ( 4 ) in the
field ( 1 ) incorporating the excitation coil.
l The armature assembly is supported with the plate spring, and is separated from the field by a
narrow gap. Loaded with the coil spring ( 2 ) built in the field, the assembly presses the disk ( 7 ) to
apply brake.
l When the coil is turned on, the field attracts the assembly against the coil spring pressure, thereby
removing the pressure on the disk and releasing the brake.
l When the power supply is turned off, the coil spring force presses the armature assembly against
the disk, quickly applying the brake.
— A-19 —
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Figure A-24: RNB2K
Figure A-25: RNB4K
Figure A-26: RNB8K
Figure A-27: RNB12K
— A-20 —
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Table A-10: Parts list
Number
1
2
3
4
Name
Field
Coil spring
Armature assembly
Plate spring
RNB 2K
1
9
1
1
5
Bolt
6
7
8
9
10
Safety spring washer
Disk
Collar
Side plate assembly
Hex. socket coutersunk head screw
3
1
3
1
3
RNB 4K
RNB 8K
1
1
6
8
1
1
1
1
Hex. socket cap bolt
3
3
3
1
1
3
6
1
1
3
6
RNB 12K
1
8
1
1
3
1
6
1
6
3. Handling precautions
1)
This brake is dry type. Its torque will decrease when the friction surface is soiled with oil. Use care
never to allow oil to enter it.
2)
The electromagnetic brake uses many mild materials. Use care not to hit or drop the brake, or apply
excessive force to it, otherwise indented or deformed brake could malfunction or have insufficient
torque.
4. Manual Release of Brake
l Insert manual brake releasing bolts to 3 tap holes of the side plate, then screw them alternatively to
press the armature assembly to the field side to release the brake.
l Use a care to screw the bolts alternatively to push the armature assembly evenly.
Table A-11
Type
Manual release bolt
RNB2K
M5
RNB4K
M5
TNB8K
M6
RNB12K
M6
— A-21 —
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5. Troubleshooting
l When the brake does not perform as intended, check followings.
u Brake is slipping.
1)
Is the friction plate soiled with oil?
2)
Is temperature of the brake too high? (over 100 °C)
3)
Is excessive load applied to the machine?
u Sluggish operation of the brake
1)
Is sufficient voltage being supplied?
2)
Is the friction plate worn out ? (too much gap)
3)
Is brake temperature too high? (over 100 °C)
u The brake does not operate entirely.
1)
Breakage of coil and/or lead wire
2)
Electrical circuit failure
3)
Too much gap of the friction plate because of wear?
4)
Is sufficient voltage being supplied?
— A-22 —
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Appendix 7: Parameter • Program Setting List
(ESA25 standard Driver Unit)
Reference No. :
S/N :
Parameter
• Blank settings are factory set.
Parameter
PG
VG
VI
VM
LG
TL
FO
FP
FS
NP
NS
DBP
DBA
ILV
FF
FC
CO
IN
IS
FW
VO
VW
Setting
Shipping
Current
set
setting
0.1
1.0
1.0
1
50
100
0
0
0
0
0
0
0
100
0
0
50 000
100
0
1
1 365
100
Data :
Setting
Shipping
Current
set
setting
X1
0
-1
0
0
0
1
0
0
0
1
1
0.1
1
0.2
1
0.0100
4
1
0
(700) **
*
Parameter
CR
PC
RR
FD
FZ
FR
PS
DI
OTP
OTM
MV
MA
JV
JA
HV
HA
HZ
OS
HD
HO
PA
OL
Parameter
RC
LR
AB
NW
MM
BM
CM
AN
WM
SE
LO
SG
MT
RI
ZP
ZV
SL
AC
AGV
AGT
Setting
Current
Shipping set
setting
*
0
X0X0XX00
2
1
1
0
0
0
0
0
0
*
*
1.00
1.4
3
1
1
1
* Differs with size of Motor.
** Differs with each Motor in case of non-interchangeable models.
l Notice for resetting or copying parameters.
◊ You do not need to set LO and SG parameters as they are for adjusting PG, VG, VI and
MA automatically.
— A-23 —
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Reference No. :
S/N :
Channel Program
• A blank part is not programmed.
CH
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Program
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
CH
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
Data :
Program
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
CH
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
Program
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
CH
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
Program
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
CV :
CA :
Command :
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— A-24 —
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
World-wide Manufacturing and Marketing Organization
NSK Ltd. INTERNATIONAL DIVISION
NSK FRANCE S.A.
JAPAN: Tokyo
FRANCE : Paris Phone:1.30.57.39.39
: Lyon Phone: 72.15.29.00
Phone: 03-3779-7120
NSK CORPORATION
U.S.A.: Ann Arbor
Phone: 313-761-9500
[Precision Products Business Unit]
NSK NETHERLANDS B.V.
NETHERLAND: Amsterdam
U.S.A. : Chicago
Phone: 630-924-8000
: Los Angeles Phone: 562-926-3578
: Ann Arbor
Phone: 761-761-9500
NSK ITALIA S.p.A.
NSK CANADA INC.
SPAIN: Barcelona
CANADA : Toront
: Montreal
: Vancouver
Phone: 905-890-0740
Phone: 514-633-1240
Phone: 800-663-5445
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MEXICO: Mexico City
Phone: 5-301-2741,5-301-3115
NSK DO BRASIL INDUSTRIA E COMÉRCIO DE
ROLAMENTOS LTDA.
BRASIL : São Paulo
Phone: 001-269-4700
: Porto Alegre
Phone: 051-222-1324
: Belo Horizonte Phone: 031-224-2508
NSK UK LTD
ENGLAND : Ruddington
Phone: 0115-936-6600
NSK DEUTSCHLAND G.m.b.H
GERMANY : Düsseldorf Phone: 02102-4810
: Stuttgart
Phone: 0711-79082-0
: Leipzig
Phone: 0341-5631241
ITALIA: Milano
Phone: 020-6470711
Phone: 02-995191
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Phone: 93-575-1662
NSK AUSTRALIA PTY, LTD.
AUSTRALIA : Melbourne
: Sydney
: Brisbane
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Phone: 03-9764-8302
Phone: 02-9893-8322
Phone: 07-3393-1388
Phone: 08-8373-4811
Phone: 089-434-1311
NSK BEARINGS NEW ZEALAND LTD.
NEW ZEALAND: Auckland
Phone: 09-276-4992
NSK KOREA CO., LTD.
KOREA: Seoul
Phone: 02-3287-6001
NSK SINGAPORE (PRIVATE) LTD.
SINGAPORE: Singapore
Phone: 2781711
NSK BEARINGS (THAILAND) CO., LTD.
THAILAND : Bangkok
: Chiang mai
Phone: 2-6412150-60
Phone: 053-246993~4
TAIWAN NSK PRECISION CO., LTD.
TAIWAN: Taipei
Phone: 02-591-0656
MEGATORQUE® MOTOR SYSTEM
User’s Manual
(ESA25 Driver Unit System)
Document Number: C20062-06
EC-T
October 20, 1997
1st Edition
August 24, 1999
2nd Edition
September 28, 1999
3rd Edition
December 2, 1999
4th Edition
January 31, 2000
5th Edition
April 27, 2001
6th Edition
1st Printing
NSK Ltd.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
6th Edition, 1st Printing
April 27, 2001
Document Number: C20062-06
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Artisan Technology Group is your source for quality
new and certified-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-service, in-house repair center
WE BUY USED EQUIPMENT
Sell your excess, underutilized, and idle used equipment
We also offer credit for buy-backs and trade-ins
www.artisantg.com/WeBuyEquipment
InstraView REMOTE INSPECTION
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Visit us on the web at www.artisantg.com for more
information on price quotations, drivers, technical
specifications, manuals, and documentation
SM
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Contact us: (888) 88-SOURCE | [email protected] | www.artisantg.com